You can find your saved workouts in the Feed, or on the Progress tab by tapping a day in the Activity grid to open the calendar.
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Open the workout summary
(or tap "..." on the Feed workout card and select Edit).
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Tap the "..." button in the top right corner and select Edit.
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Make the changes you need, tap Save Workout at the bottom, then tap Save on the Save Workout screen.
Workouts imported from Apple Health or Health Connect are locked: they show no Edit option. If you try to change one anyway, Gravl shows "This workout can't be edited".