Smooth rigidbody movement

Hi Unity Community,

I have written a script to move an object via ray cast to positions on a terrain, however I can’t for the life of me seem to make this movement smooth. I have tried all manner of things trying to figure this out (as you can probably tell by the amount of commented-out code below); disabling various rigidbody variables, however to no avail.

One approach that (kind of) worked was disabling the collider attached to the object, however this lead to the object inadvertently sinking below the terrain.

Can anyone please advise me as to the best approach to go about this would be? I feel like this should be very simple but I am over complicating it.

Many thanks in advance, Ryan

         //Move
         if ( Input.GetKey(KeyCode.E))
         {    
 //            if (Input.GetKeyDown(KeyCode.E))
 //            {
 //                modObj.GetComponent(BoxCollider).enabled = false;                
                 initPos = modObj.transform.position;
                 var initRotation = modObj.transform.rotation;    
 //            }
 //            
 //            modObj.GetComponent(Rigidbody).isKinematic = true;
 //            modObj.GetComponent(Rigidbody).useGravity = false; 
     
             moveObject(modObj, initPos, initRotation);
         }
         else{
 //            modObj.GetComponent(BoxCollider).enabled = true;
 //            modObj.GetComponent(Rigidbody).isKinematic = false;
 //            modObj.GetComponent(Rigidbody).useGravity = true; 
         }


 function moveObject(modObj : GameObject, initPos : Vector3, initRotation : Quaternion)
 {
     //Debug.Log("Moving Object");
 
     var hit : RaycastHit;
     var foundHit : boolean = false;
     
     foundHit = Physics.Raycast(transform.position, transform.forward, hit);
     //Debug.DrawRay(transform.position, transform.forward, Color.blue);
     
     if(foundHit && hit.transform.tag == "Terrain") 
     {
         modifyObjGUIscript.activateMoveDisplay(initPos, hit.point);        
         
 //        var meshHalfHeight = modObj.GetComponent.<MeshRenderer>().bounds.size.y /2; //helps account for large and small objects
         
         modObj.transform.position = hit.point; //***method 01***
 //        modObj.transform.position = Vector3.Lerp(initPos, hit.point, speed); //***method 02***
 //        modObj.transform.position = Vector3.SmoothDamp(initPos, hit.point, velocity, smoothTime); //***method 02***
 
 //        modObj.transform.position.y =  modObj.transform.position.y + meshHalfHeight + hoverHeight;
         
         modObj.transform.rotation = initRotation;
     }
 }