Rigidbody jittering with camera follow

Hi

I have a rigidbody player that is being moved by setting the velocity and rigidbody.MoveRotation. (Example code below)

 void FixedUpdate(){
         r.MoveRotation(r.rotation * newRot);
         r.velocity = transform.forward * currentSpeed;
 }

I also have a camera following this player with this script:

 using UnityEngine;
   using System.Collections;
   
   [AddComponentMenu("Camera-Control/Smooth Follow 3D CSharp")]
   
   public class SmoothFollow3D : MonoBehaviour
   {
       
   
       // The target we are following
       public Transform target;
       // The distance in the x-z plane to the target
       public float distance = 10.0f;
       // the height we want the camera to be above the target
       public float height = 5.0f;
       // How much we 
       public float heightDamping = 2.0f;
       public float rotationDamping = 3.0f;
   
       void LateUpdate ()
       {
           // Early out if we don't have a target
           if (!target)
               return;
       
          Vector3 followpos = new Vector3(0.0f, height, -distance);
          Quaternion lookrotation = Quaternion.identity;
     
          lookrotation.eulerAngles = new Vector3(0.0f, 0.0f, 0.0f);
  
          Matrix4x4 m1  = Matrix4x4.TRS(target.position, target.gameObject.GetComponent<Rigidbody>().rotation, Vector3.one);
          Matrix4x4 m2  = Matrix4x4.TRS(followpos, lookrotation, Vector3.one);
          Matrix4x4 combined  = m1 * m2;
          
          // THE WAY TO GET POSITION AND ROTATION FROM A MATRIX4X4:
          Vector3 position = combined.GetColumn(3);
          
          Quaternion rotation = Quaternion.LookRotation(
          combined.GetColumn(2),
          combined.GetColumn(1)
          );
  
  
           Quaternion wantedRotation = rotation;
           Quaternion currentRotation = transform.rotation;
  
           Vector3 wantedPosition = position;
           Vector3 currentPosition = transform.position;
        
           currentRotation = Quaternion.Lerp(currentRotation, wantedRotation, rotationDamping * Time.deltaTime);
           currentPosition = Vector3.Lerp(currentPosition, wantedPosition, heightDamping * Time.deltaTime);
       
          transform.localRotation = currentRotation;
          transform.localPosition = currentPosition;
           
          
       }
   }

(I have my own smooth follow that looks pretty similar but I grabbed this on off the internet).

No Matter what I do my player still jitters when I rotate it (rotation is based on the mouse position on the screen). I tried interpolate/extrapolate, I tried lateupdate on the camera and smoothdamp instead of lerp.

How do I fix this? What is the ideal setup for something like this?

Thanks!