How do I go about making an NPC complete a path after my other NPC has finished its path?

Server Script inside of both NPCs:

local pathfindingService = game:GetService("PathfindingService")

local humanoid = script.Parent.Humanoid
local body = script.Parent:FindFirstChild("HumanoidRootPart") or script.Parent:FindFirstChild("Torso")
local destination1 = game.Workspace.dest1p2.Position
local destination2 = game.Workspace.destEND.Position

local path = pathfindingService:CreatePath()

path:ComputeAsync(body.Position, destination1)

local waypoints = path:GetWaypoints()

for k, waypoint in pairs(waypoints) do
	humanoid:MoveTo(waypoint.Position)
	
	if waypoint.Action == Enum.PathWaypointAction.Jump then
		humanoid:ChangeState(Enum.HumanoidStateType.Jumping)
	end
	
	humanoid.MoveToFinished:Wait()
end

wait(20)
path:ComputeAsync(body.Position, destination2)

local waypoints = path:GetWaypoints()

for k, waypoint in pairs(waypoints) do
	humanoid:MoveTo(waypoint.Position)
	
	if waypoint.Action == Enum.PathWaypointAction.Jump then
		humanoid:ChangeState(Enum.HumanoidStateType.Jumping)
	end
	
	humanoid.MoveToFinished:Wait()
end

I want it so when one NPC finished the path, the other NPC does a path and it just keeps switching back and forth. Ex: The 1st NPC starts its path and then after a little while it gets back to the start. I then want the 2nd NPC to start its path until it eventually gets back to the beginning and then the 1st NPC starts its path again and then eventually gets back to the start then the 2nd NPC starts its path again and so on.