GameObject movement to specific position and angle

Hello, I am trying to build a visualization tool for a vehicles that moves into a layout and that communicates to the script his X Y (Z for unity) and angle of direction.

The scripts receive through a WCF service the updates position of the vehicle in the layout and make the gameObject move to that position.

I am very new to unity but I know a little of C# programming.

I am facing the following issues:

1. The vehicle when aproaches a turn, it curves in the wrong direction and it seems to be drifting on the ground.

2. I can't manage to have a smooth rotation like it is for the translation.

3. If I increase the step of the translation it does not animate anymore but teleports to the target point.

here what my code looks like:

 private Vector3 target;
     private int counter = 0;
     public AgvCtlServicesClient AgvCtlSvcs;
     // Start is called before the first frame update
     void Start()
     {
         AgvCtlSvcs = new AgvCtlServicesClient(new BasicHttpBinding(), new EndpointAddress("http://localhost:9001/AgvCtlSvcs"));
         var coords = AgvCtlSvcs.GetAgvCoordinates();
         transform.position = new Vector3((((float)coords[0]) / 1000), 2, ((float)coords[1] / 1000));
     }
 
     // Update is called once per frame
     void FixedUpdate()
     {
         counter++;
         if (counter % 1 == 0)
         {            
             float step = (float) 1f * Time.deltaTime;
             
             var coords = AgvCtlSvcs.GetAgvCoordinates();
             
             target = new Vector3((((float)coords[0]) / 1000), 2, ((float)coords[1] / 1000));
 
             float temp = Vector3.Distance(transform.position, target);
             
             transform.position = Vector3.MoveTowards(transform.position, target, step);
 
             var angle = -(transform.eulerAngles.y - (float)((coords[2] * 360) / 6284) / 10);          
 
             gameObject.transform.Rotate(new Vector3(0, angle, 0));
          
             print("X: " + ((coords[0]) / 1000).ToString() + " Y: " + (coords[1] / 1000).ToString() );
         }
     }

what do you think I should correct? it's not commented but it is pretty simple code I think.