Auto-moving RigidBody2D to a point, using thrusters (part of AI)

I wrote a coroutine, which is part of AI and it is meant to auto-drive the object to a point in 2D space, using left, right, up and down thrusters:

 IEnumerator ReturnToPoint(Vector2 posVec)
 {
     moveHorizontal = true;
     moveVertical = true;
     if(transform.position.x >= posVec.x && transform.position.y >= posVec.y)
     {
         while(transform.position.x >= posVec.x || transform.position.y >= posVec.y)
         {
             if (transform.position.x >= posVec.x)
             {
                 thrustLeft = true;
             }
             else
             {
                 thrustLeft = false;
                 rig.velocity = new Vector2(0.0f, rig.velocity.y);
             }
             if(transform.position.y >= posVec.y)
             {
                 thrustDown = true;
             }
             else
             {
                 thrustDown = false;
                 rig.velocity = new Vector2(rig.velocity.x, 0.0f);
             }

             yield return 0;
         }
     }
     else if(transform.position.x >= posVec.x && transform.position.y <= posVec.y)
     {
         while(transform.position.x >= posVec.x || transform.position.y <= posVec.y)
         {
             if(transform.position.x >= posVec.x)
             {
                 thrustLeft = true;
             }
             else
             {
                 thrustLeft = false;
                 rig.velocity = new Vector2(0.0f, rig.velocity.y);
             }
             if(transform.position.y <= posVec.y)
             {
                 thrustUp = true;
             }
             else
             {
                 thrustUp = false;
                 rig.velocity = new Vector2(rig.velocity.x, 0.0f);
             }

             yield return 0;
         }
     }
     else if(transform.position.x <= posVec.x && transform.position.y >= posVec.y)
     {
         while(transform.position.x <= posVec.x || transform.position.y >= posVec.y)
         {
             if(transform.position.x <= posVec.x)
             {
                 thrustRight = true;
             }
             else
             {
                 thrustRight = false;
                 rig.velocity = new Vector2(0.0f, rig.velocity.y);
             }
             if(transform.position.y >= posVec.y)
             {
                 thrustDown = true;
             }
             else
             {
                 thrustDown = false;
                 rig.velocity = new Vector2(rig.velocity.x, 0.0f);
             }

             yield return 0;
         }
     }
     else if(transform.position.x <= posVec.x && transform.position.y <= posVec.y)
     {
         while(transform.position.x <= posVec.x || transform.position.y <= posVec.y)
         {
             if(transform.position.x <= posVec.x)
             {
                 thrustRight = true;
             }
             else
             {
                 thrustRight = false;
                 rig.velocity = new Vector2(0.0f, rig.velocity.y);
             }
             if(transform.position.y <= posVec.y)
             {
                 thrustUp = true;
             }
             else
             {
                 thrustUp = false;
                 rig.velocity = new Vector2(rig.velocity.x, 0.0f);
             }

             yield return 0;
         }
     }

     moveHorizontal = false;
     moveVertical = false;
     thrustRight = false;
     thrustLeft = false;
     thrustDown = false;
     thrustUp = false;
 }
 

It appears to work fine, however...

Is there a better way to write this coroutine? For example, by using Vector2.MoveTowards or something else? I ask this because, I suspect that there is a better way and I could pick quite a few tricks and tips about general Vector manipulation, by knowing it.