My fox trotter can running walk, foxtrot, trot, pace (not sure if it's a broken pace or hard pace but it's comfortable), and canter.
Since I have a background in dressage, I just give a half halt and squeeze with my legs to pick up the fox trot. Her foxtrot replaces the sitting trot. If I want to do a regular trot, I just nudge her with my legs to ask for a faster gait.
Her pace isn't really developed. Sometimes she picks it up on trail rides and sometimes as you break from a canter, she will pace. But sometimes one of her legs slips out from under her at the pace. I don't really work on her pace. She is perfect the way she is. And she may be pacing more than I realize... I don't always pay attention.
In the arena her foxtrot is very slow. On trail rides she will move out faster.
In general either they have the ability to gait or they do not. If they don't gait, they may not have it. My Paso did not inherit the correct gait and no amount of training will change that.