How To Make Object gradually "lerp" into new movement direction?

Hey guys,

I have what seems to be a complex question.

I have a bunch of enemy objects and they can move in ANY and every direction in a certain area. There are walls to stop them from moving out of that area and makes them choose another movement pattern if they hit a wall.

What I would like to happy is, the enemies move fluidly. Meaning, no choppiness in movement when an enemy is changing directions to go a different way. It should be a smooth lerp style transition to the next movement pattern instead of just "snapping" straight into the next movement.

Right now I have a few different movement patterns that enemies can choose from but want to make it look more like "pathfinding" style or appear that the enemies are just wandering. If you guys know any plug-ins that could possibly work for this, let me know as well!

Thanks!