Due to nearly all of my kids carrying/pushing props, we have stopped doing a formal march onto the field for most of the last ten years. You are not technically judged during your 5-minute setup, and early on, the judges are most likely busy finishing up with comments or grabbing a drink/snack.

Those who formally march on still have to do some solid marching, though, as a few judges will mentally note the struggling marchers. We're a 3A band.