So to summarize my findings, all of which lerp rotation under a fixed duration:
Simplest solution, favor shortest path meaning if switches direction if you go around it from behind
.
This one will stick to the initial rotation direction, and stick to it no matter what so it can go full circle if you switch side in front of it
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Merge of the two previous solutions, it will keep the rotation direction if you go behind it but will switch rotation if you switch side in front of it
Of course, all can be adapted to be used without a timeline and with a timer/on tick like in the other suggestions, it depends on what you need.