Well it looks like I’ve done it.
I tried the bodyposition method again, with a bodygryo this time, I don’t know why it worked this time. I’m thinking it had something to do with the P being way to low where it didn’t have enough power to move the model at all. I also changed the max force to inf for x, y, and z. But now all I should need to do is some tweaking to the D and P values, but thanks to everyone who tried to help!