Yea, I mean it's not all relevant to your needs but the way I build my task and the expectations you should be able to extract, if not happy to help further. My code is normally for me only so some of the older stuff I'd yet to figure out the importance of naming conventions and readability so its a bit tougher than it should be. The PointTask func you should be able to copy paste, just replace the function that names it with your own, and theres some duplication because of overloads with the 'ASTAR' that you can stop reading from. So that last task with the looped waypoints is important and the rest you should be OK with. Does not need to be in a coroutine either (sorry if thats obvious), I just copied my live implementation straight out of my AI so its just how its setup but not needed here for you.