Slowly rotate a body whilst adding a force to its rigidbody

Hi , I am making a endless jetpack game where depending on which half of the screen the user taps , the jetpack goes in that direction. I basically want the object to tilt slowly and gradually to the left if its to go there or vice versa.(like Jetpack Jinx). I have tried Lerp , quaternion and a couple others all seem to be jerky . The way i move the jetpack to the left and right is using addforce so somtimes when the rotation is not zero and a force is applied it suddenly jumps up awkwardly . Please help me solve this conundrum of mine , thanks !

if (Input.GetMouseButtonDown (0)) {

         GetComponent<Rigidbody2D>().AddForce(new Vector2(0f,forceY));

         if (Input.mousePosition.x < Screen.width / 2 || Input.GetKey (KeyCode.LeftArrow)) 
         {
             GetComponent<Rigidbody2D>().velocity=new Vector2(0f,0f);

             GetComponent<Rigidbody2D>().AddForce(new Vector2(-forceX,0f));
         }
         else if (Input.mousePosition.x > Screen.width / 2 || Input.GetKey (KeyCode.RightArrow)) 
         {
             GetComponent<Rigidbody2D>().velocity=new Vector2(0f,0f);
             GetComponent<Rigidbody2D>().AddRelativeForce(new Vector2(forceX,0f));
         }
     
     }