How to make AlignConstraints replicate from server to client smoothly?

I am making a tower defense game and I always kept running into the same problem for years. The problem is that the enemies that are moving using AlignPosition and AlignOrientation keep lagging behind when playing in production mode (due to latency). How can I replicate such movements to the client while having the server see the movement as well so that proper sanity checks can be performed?

What I want to achieve (this is in Studio so there is no latency at all)

I tried to duplicate the AlignConstraints on client and disable the server sided ones but that caused some very odd results.