How To calculate the points of a curved movement path with steering constraints? (2D)

Hello Community!

I seem to be kinda stuck on the following issue. Currently im working on a top-down turn based game, and if the player selects an entity and clicks on a position to plan a move to that position I need the to do the following:

• Plan a path from start position to end position.

• this path should be planned with turningradius in mind, which means the entity cannot turn on a place, but needs to move and turn gradually.

• my finished function should be able to handle special cases like in the picture.

The points of the path should be (doenst have to if other solution possible) returned as a vector2 array or something similar. In addition the rotation of the point should be returned (im currently using a struct with position/orientation values).

This is not meant for the movement (next step), but just to get the points and rotations of the path.

Ive been researching this for quite a bit of time now, I know unity steer, but it doesnt fit with the turn based part (i think)

Do you know a possible approach/script/middleware to solve my problem? Many thanks!