Note that when moving rigidbodys, you should be moving the objects transform via the rigidbody. That’s the point of the rigidbody. If you are moving a rigidbody using its transform directly, you are going to have issues where things “look” like they are colliding but they actually aren’t.
This mehod doesn’t continue moving towards a target per-frame, you have to do that yourself per-frame. The documentation with a code example show this.
Your code instantiates a prefab at the current objects transform pose then moves it one step only and that’s it.
You need to continue moving the object per-frame or if you want to use a Rigidbody2D then set its velocity. No idea what you mean by “didn’t like the feel or look” because in the end it’s a mechanism to move so has no visuals. Maybe you mean it didn’t seem smooth but that’s because physics doesn’t necessarily update per-frame but you can simply go to the Rigidbody2D and turn on Interpolation.
Certainly, you should NOT have a Rigidbody2D on this prefab instance if you’re manipulating the Transform; that’s bad.