I'd like to add the simple "I walk" or "I walk there" as the most likely things I'd say, followed by the simple "On foot."
None of these are grammatically incorrect.
B: I walk there from my house. -- I would just leave out the "from my house."
C: I get there by walking. -- The least likely thing for me to say.
D: I get there on foot. -- Okay, or "I go by foot."
E: I walk to get there. -- As above, I'd delete "to get there."