Waypoint problem. Humanoid breaking on turns

Help and Feedback Scripting Support
#1

I’m making a Tower Defense type game but I’m running into a problem when making the waypoint system.

Whenever the humanoid runs into a corner the whole movement script messes up without any errors,

image
image922×580 38.5 KB

This is one of the corners for example.

They move to the red dot perfectly but mess up when using the BLUE “Correction” dot.

Here is part of my movement script.

local CurrentWayPoint = MapPath.Start
		
		repeat 
			local CloseToWayPoint = false
			
			while not CloseToWayPoint do
				local DistanceToWayPoint = (Vector3.new(Root.Position.X,0,Root.Position.Z) - Vector3.new(CurrentWayPoint.Position.X,0,CurrentWayPoint.Position.Z)).Magnitude
				
				if DistanceToWayPoint <= 0.5 then
					CloseToWayPoint = true
					print("NextWaypoint")
				end
				
				Humanoid:MoveTo(CurrentWayPoint.Position)
				
				wait(0.5)
			end
			
			CurrentWayPoint = CurrentWayPoint:FindFirstChildWhichIsA("Part")
			
		until CurrentWayPoint.Name == "End"

And the waypoints in the explorer
image

When changing the if DistanceToWayPoint <= 0.5 then value to a higher number it seems to break less but the movement on the humanoid is not aligned how I want it. On the other hand, when it is lower the movement is precise but it breaks almost always.