lerpExample.cs

using System.Collections;
using System.Collections.Generic;
using UnityEngine;

public class Interpolator : MonoBehaviour
{
   [Range(0,1)]
   [SerializeField] private float interpolationParam;

   [SerializeField] private Vector3 destinationPosition;

   [SerializeField] private Vector3 rotationPosition;

   private Vector3 _initialPosition;
   private Quaternion _initialRotation;

   public void Start()
   {
      _initialPosition = transform.position;
      _initialRotation = transform.rotation;
   }
   
   public void Update()
   {

      var param = 0; //0,1
      //[a,b] a + (b-a) * param; 
      //[a,b] ((q2.q1^-1)^param).q1
      )^param
      
      transform.position = Vector3.Lerp(_initialPosition, destinationPosition, interpolationParam);
      transform.rotation = Quaternion.Lerp(_initialRotation, Quaternion.Euler(rotationPosition), interpolationParam);
   }

}