Thank you so much! Honestly the limits of the pathfinding prevent you from seeing just how awesome Inverse Kinematics can look, and I wish I could've gotten the organic movement that's possible when the movement is fully physics based.
For just inverse kinematics and the algorithm I used:
https://www.reddit.com/r/Unity3D/comments/fqabkx/i_tried_to_explain_procedural_a...
https://www.reddit.com/r/Unity3D/comments/fuj4sy/i_tried_to_explain_hoverboard_p...
Good luck!