Actually, the original purpose of hatha yoga as taught in the Vedas is to calm and strengthen the body and mind to make them a more fit vehicle to render service to God.
Much of the “yoga literature” is tainted with Mayavada philosophy, or impersonalism, (You are God-ism, God is a formless void, etc) which was not the original intent, nor was it the view point of the ancients.
A person can practice hatha yoga for general good exercise that not only strengthens the body but helps the glands, circulation and is also very relaxing and calming to the mind.
It is not evil and not contradictory in any way to the teachings of Jesus.
It would be an interesting study to trace how the “original intent of the “ancients” got so tainted with a corrupt style of thought or ‘impersonalism’ as you describe it. The great Deceiver perhaps feared where adherents of “hatha” yoga went spiritually when they indulged in it and and he therefore sought to corrupt it.
Even the Bible states..”Be still and know that I am God”...and learning to center “down” in his presence is important. Yet strange Yoga contortions are not necessary to quiet oneself before God....just an attitude of humility! Yoga, stripped of its corrupting promises of “inner godhood”(the ancient lie of the garden), might be a good form of exercise as you put it....but it is the HOLY SPIRIT that causes the inner man to shine out in the surrounding darkness of this world! Yoga can’t touch what God brings to the inner man!
Jesus did not indulge in Yoga, if he had, he would have taught his disciples and us to do so.