What is the best way to rotate a ship slowly towards a target with torque using physics?

[DevMerlin]

I have a floating boat that I am trying to control with pure physics, however thus far it hasn’t been working that well, beyond the buoyancy which works perfectly.

At the moment, I’ve got a vague target look-at that rotates, however it tends to over-shoot and then won’t stop when it gets to the target, resulting in a weird orbit. What I want to do is keep it from over-shooting when it’s lined up with the target, and then move to the destination and finally stop, until the destination changes.

This is the code producing the not-quite-working effect:

    TargetLocation = TempTarget.position;

    Vector3 Heading = TargetLocation - transform.position;
    float direction = Vector3.Dot(Heading, -transform.forward);
    float Distance = Vector3.Distance(TargetLocation, transform.position);

    Debug.Log("Direction Status: " + Mathf.Sign(direction));

    if (Distance > 1.5f)
    {
        // Is the Target in front or behind me? //
        // In Front //
        if (Mathf.Sign(direction) == 1)
        {
            currentThrustPower = 600;
        } else
        {
            currentThrustPower = 0;
        }

        if (direction < 0.55f)
        {
            torquePower = 1400;
        }
        else
        {
            torquePower = 0;
        }

    } else {
        currentThrustPower = 0;
        torquePower = 0;
    }

    RTorque = new Vector3(0, 0, torquePower);
    Vector3 forceToAdd = -transform.up * currentThrustPower;
    boatRB.AddRelativeTorque(RTorque);
    boatRB.AddForceAtPosition(forceToAdd, waterJetTransform.position);

[Brijs]

Calculate the angle between velocity of boat and target direction of boat(target.transform.position - boat.transform.position)

var angle = Vector3.Angle(rigidbody.velocity , target.transform.position - boat.transform.position);

When boat orbits around target this angle must be around 90.

So when this angle gets nearer to 90 decrease the speed of boat.