he Google translate of заня́тия йо́гой is doing yoga, is it a correct translation?
'Yoga classes' as well.
Я сегодня занят, у меня занятия йогой. (purely '
classes')
Занятия йогой - то, что сделало его таким гибким. (doing yoga; still it is in the plural as the process considered a set of
sessions)
Йога - это прекрасное занятие. (abstract process: you cannot tell if it is viewed as a repetitive or as an ongoing flow).
As Awwal12 already noted, some ambiguity arises when you need something like
Я пропустил одно занятие ...
To me, the most appropriate here would be the genitive case: '... одно занятие йоги.'
Some people could also say '... по йоге', even though is sounds as if it is a field of study such as a foreign language or physics.
Note there's no issues with 'Я пропустил одно занятие' itself, without a complement - since it is used as a suitable word for a single 'session'. 'Урок' is, again, related to something that is more like sciences, 'класс' has a broad meaning (class, grade, category), 'тренировка' is about sports.