Moving RigidBody2D between two points

I am creating a platform game and I am trying to make moving platforms for my game. Basically I want the platforms to move between two points at a certain speed. For other objects I have been using an array containing “PatrolPoints” and used the Vector2.MoveTowards() function. However for these moving platforms has kinematic rigidbodies attached to them with the interpolation setting. It is very important that the platforms reach the points exactly. Is there any way I can use something similar to MoveTowards to move these platforms?

Any help is much appreciated, I am open to any kind of response

You use Rigidbody2D.MovePosition in combination with Vector2.Lerp (the position) to move a Rigidbody2D. You should only do this once per fixed-update and let interpolation interpolate per-frame.