All our Training Peaks training plans come with the option to export the workouts to your devices, including Garmin, Zwift (only cycling workouts are currently available for export to Zwift), TrainerRoad and Wahoo. This enables you to follow the workouts live, using on screen prompts.
If you click on your bike and run workout from your Training Peaks calendar, you will see an Export icon (a small upwards arrow). This enables you to Export and Save the workout files into the formats needed for your devices.
You can read more about how to do this at the TrainingPeaks support pages here:
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