Help creating smooth motion with BodyVelocity

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Hello. im trying to make a grappling system somewhat similar to Attack on titans. Currenty I have this which is fine and all but i want the strafing / rotating around to be more smooth so that it doesn’t start abruptly.

local function updateGrapple(char, target)
	BodyVelocity = Instance.new("BodyVelocity")
	BodyVelocity.MaxForce = Vector3.new(math.huge,math.huge,math.huge)
	BodyVelocity.Parent = char.HumanoidRootPart
	
	BodyGyro = Instance.new("BodyGyro")
	BodyGyro.MaxTorque = Vector3.new(math.huge,math.huge,math.huge)
	BodyGyro.D = 350
	BodyGyro.P = 99999
	BodyGyro.Parent = char.HumanoidRootPart
	grapplingUpdater = game:GetService("RunService").Heartbeat:Connect(function(dt)
		if Strafe == "Right" then
			BodyVelocity.Velocity = char.HumanoidRootPart.CFrame.RightVector * STRAFE_SPEED
		elseif Strafe == "Left" then	
			BodyVelocity.Velocity = (char.HumanoidRootPart.CFrame.RightVector * - 1) * STRAFE_SPEED
		else
			BodyVelocity.Velocity = (target - char.HumanoidRootPart.Position).Unit * GRAPPLE_SPEED
		end
		BodyGyro.CFrame = CFrame.new(char.HumanoidRootPart.Position, target)
	end)
end

This is my code, the important parts are in the Heartbeat event.

What i currently have:

What I’m trying to achieve:

As you can see the other example seems to smoothly strafe the character.