Lerp/Slerp making the Camera get stuck,Lerp / Slerp getting stuck

I am trying to use Lerp / Slerp to move my camera (which is a child of a Car Prefab containing a RigidBody) from point A to point B and back to point A. I've tried using coroutines as well as Update Method to do so.

Here is the Coroutine

  IEnumerator startSequence ()
         {
             Vector3 offset = new Vector3(0.02857f, 3.12307f, 2.4438f);
             Vector3 startPosition = CollisionHandler.instance.collisionCam.transform.position;
             Quaternion startRotation = CollisionHandler.instance.collisionCam.transform.rotation;
     
             while (Vector3.Distance(CollisionHandler.instance.collisionCam.transform.position, targetPosition.transform.position + offset) > 0.05)
             {
                 CollisionHandler.instance.collisionCam.transform.position = Vector3.Lerp(CollisionHandler.instance.transform.position, targetPosition.position + offset, 2 * Time.deltaTime);
                 CollisionHandler.instance.collisionCam.transform.rotation = Quaternion.Slerp(CollisionHandler.instance.transform.rotation, Quaternion.Euler(34, -180, 0), 2 * Time.deltaTime);
                 yield return null;
             }
     
             while (CollisionHandler.instance.collisionCam.transform.position != startPosition && CollisionHandler.instance.collisionCam.transform.rotation != startRotation)
             {
                 CollisionHandler.instance.collisionCam.transform.position = Vector3.Lerp(targetPosition.position + offset, startPosition, 2 * Time.deltaTime);
                 CollisionHandler.instance.collisionCam.transform.rotation = Quaternion.Slerp(Quaternion.Euler(34, -180, 0), startRotation, 2 * Time.deltaTime);
                 yield return null;
             }
     
     
             startSequenceCheck = false;  // A check which is used in another method after the camera has returned to it's original position
         }  

the coroutine doesn't seem to work at all, the camera moves a little and then gets stuck and jitters about the position

and here is the update method doing the same thing

 private void Update()
     {
         if (startSequenceCheck1)
         {
             CollisionHandler.instance.collisionCam.transform.position = Vector3.Lerp(CollisionHandler.instance.collisionCam.transform.position, targetPosition.position + offset, 2 * Time.deltaTime);
             CollisionHandler.instance.collisionCam.transform.rotation = Quaternion.Slerp(CollisionHandler.instance.collisionCam.transform.rotation, Quaternion.Euler(34, -180, 0), 2 * Time.deltaTime);
             if (Vector3.Distance(CollisionHandler.instance.collisionCam.transform.position, targetPosition.transform.position + offset) > 0.05)
                 startSequenceCheck1 = true;
             else
             {
                 startSequenceCheck1 = false;
             }
         }
 
         else
         {
             //CollisionHandler.instance.collisionCam.transform.position = Vector3.Lerp(targetPosition.position + offset , startPosition, 2 * Time.deltaTime);
             CollisionHandler.instance.collisionCam.transform.rotation = Quaternion.Slerp(Quaternion.Euler(34, -180, 0), startRotation, 2 * Time.deltaTime);
             if (Vector3.Distance(CollisionHandler.instance.collisionCam.transform.position, startPosition) > 0.05)
                 startSequenceCheck2 = true;
             else
             {
                 startSequenceCheck2 = false;
             }
 
 
         }
     }

the update method on the other hand does run the first Lerp/Slerp and goes to the target position but then gets stuck and starts jittering about the position like the coroutine.

I've seen a similar post and the answer there was that the GameObject is a child of a RigidBody, my camera is also a child of a Car prefab which has a rigid body, but I've also tried it without the camera being a child of the Car and still get the same problem

also I am sorry if the code seems stupid I am basically a beginner in Unity