[SOLVED] How to fix stuttering Npc lag in pathfinding?

I see a lot of pathfinding lag and NPC stuttering while running the game. Although, it doesn't happen when I run it. So, I think its a Roblox created lag. So, how can I fix it?

-- Get Pathfinding Service
local pathfindingService = game:GetService("PathfindingService")

-- Variales For NPC Humanoid Torso And Destination
local humanoid = script.Parent.Humanoid
local body = script.Parent:FindFirstChild("HumanoidRootPart") or script.Parent:FindFirstChild("Torso")
local destination = script.Parent.Parent.Target.Position

-- Create Path Object
local path = pathfindingService:CreatePath()

-- Compute A Path
path:ComputeAsync(body.Position, destination)

-- Get The Waypoints Table
local waypoints = path:GetWaypoints()

-- Main
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

script.Parent.Parent:Destroy()

And also I made some changes looking to other forums..

-- Get Pathfinding Service
local pathfindingService = game:GetService("PathfindingService")

-- Variales For NPC Humanoid Torso And Destination
local humanoid = script.Parent.Humanoid
local body = script.Parent:FindFirstChild("HumanoidRootPart") or script.Parent:FindFirstChild("Torso")
local destination = script.Parent.Parent.Target.Position

-- Create Path Object
local path = pathfindingService:CreatePath()

-- Compute A Path
path:ComputeAsync(body.Position, destination)

-- Get The Waypoints Table
local waypoints = path:GetWaypoints()

-- Main
local distance
for k, waypoint in pairs(waypoints) do
    humanoid:MoveTo(waypoint.Position)

    if waypoint.Action == Enum.PathWaypointAction.Jump then
        humanoid:ChangeState(Enum.HumanoidStateType.Jumping)
    end

    repeat
        distance = (waypoint.Position - humanoid.Parent.PrimaryPart.Position).magnitude
        wait(0.0001)
    until
        distance <= 50
end

script.Parent.Parent:Destroy()

But the problem in second script is that the NPC move one step and waits for 2-3 sec and move another step.

Please help.