Smooth body rotation

On games like Combat Warriors, Criminality, Aethelbeorn, Vectus, when you turn your body, it smooths it out slowly (im not talking about movedirection lerping), but i have NO IDEA of how could i do that, i tried reading topics, tried lerping, tried looking into free models, but i had no success. If someone can help me with that, itd be very appreciated.

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