Face other object using lerp in a coroutine - unity3d

Question

I want to have a coroutine to use the lerp function and so far I managed to do so partially. The characters will turn their position to face the target object. However, I want the characters to move their rotation starting from their own while what is currently happening is their rotation is set to some abstract value like X=0 and then it will start rotating them from there.
What I want to do is simply turn the character to face another transform smoothly. Here's the code:
public IEnumerator LookSlerpAt(Transform target, int seconds)
{
IsTurningHead = true;
Vector3 relativePos = target.position - this.transform.position;
Quaternion lookRotation = Quaternion.LookRotation(relativePos);
float elapsedTime = 0f;
float fraction = elapsedTime / seconds;
while (elapsedTime <= seconds)
{
this.transform.rotation = Quaternion.Lerp(target.rotation, lookRotation, fraction);
print($"rotation:{this.transform.rotation}");
elapsedTime += Time.deltaTime;
fraction = elapsedTime / seconds;
yield return Time.deltaTime;
}
IsTurningHead = false;
}
Thanks for your time

Answer 1

if you want to rotate smoothly to direction you could use that as coroutine: You specify the specified time to rotate and the velocity is automatically adjusted
public IEnumerator RotateToDirection(Transform transform, Vector3 positionToLook, float timeToRotate)
{
var startRotation = transform.rotation;
var direction = positionToLook - transform.position;
var finalRotation = Quaternion.LookRotation(direction);
var t = 0f;
while (t <= 1f)
{
t += Time.deltaTime / timeToRotate;
transform.rotation = Quaternion.Lerp(startRotation, finalRotation, t);
yield return null;
}
transform.rotation = finalRotation;
}