Smooth mesh motion Between Back and Foward

It works for what im using it for afaik

The issue is beyond the timeline for making the backward movement, all im doing is inverting the animation, so it snaps to the reverse. I was wondering if there was a way to make it so it “reverses” then redoes the animation

In this video I start by waiting till its at 0 then go backwards, toward the end i switch inbetween fowards and backwards rapidly

Im not a professional, all I’m using the lerp/timeline for is the smooth movement from one state to another, using the
SetRelativeRotation