Mouse click movement

I need to make realistic human movement (3D) using mouse click.

1. Get mouse click point using Raycast.
2. Smoothly Slerp to LookRotation.
3. Move transform.forward.

Everything works fine, except I have problem with circular movement (close radius).

1. Example If dont move transform.forward while Slerp to LookRotation or MoveTowards instead of transform.forward it will be spinning like whirligig on circular movement.

2. Example If do move transform.forward while while Slerp to LookRotation it will distort trajectory of straight direct movement.

Is there any solution to move circular realistic (not spin like whirligig) and move straight direct when needed (not distort trajectory)?

I need straight movement from first example and circular movement from second.

        if (Input.GetMouseButtonDown(1))
        {
            Ray ray = Camera.main.ScreenPointToRay(Input.mousePosition);

            RaycastHit[] hits = Physics.RaycastAll(ray);

            foreach (RaycastHit hit in hits)
            {
                if (hit.transform.tag == "Ground")
                {
                    DestinationPosition = new Vector3(hit.point.x, transform.position.y, hit.point.z);

                    DestinationRotation = Quaternion.LookRotation(DestinationPosition - transform.position);

                    break;
                }
            }
        }

        if (Vector3.Distance(transform.position, DestinationPosition) > 1)
        {
            transform.rotation = Quaternion.Slerp(transform.rotation, DestinationRotation, RotationSpeed * Time.deltaTime);

            transform.position += transform.forward * MovementSpeed * Time.deltaTime;

            //transform.position = Vector3.MoveTowards(transform.position, DestinationPosition, MovementSpeed * Time.deltaTime);

            animation.CrossFade("run");
        }
        else
        {
            animation.CrossFade("idle");
        }