Best way to move a rigidbody

I have 2D game with nodes that a rigidbody has to follow. I figured I can check if the next target is to the left or to the right and the move the rigidbody accordingly. I do want to use physics, as I want the rigidbody to fall of ledges realistically. What is the best (In regards to performance) way to move a rigidbody?

Thanks in advance!

Using key-presses that modify rigidbody2D.velocity or use rigidbody2D.AddForce. There isn’t really any other way, and it’s as efficient as it gets. You don’t want to manually translate the character, it won’t work right.