How to make this code use pathfinding instead of Move To?

So im using a MoveTo For my AI but I found out MoveTo makes it try to move to the selected object without pathfinding. How could I recode this to make it use pathfinding? Ive read the pathfinding doc but I still dont understand?

local larm = script.Parent:FindFirstChild("HumanoidRootPart")

local selectedPlayer

function findNearestTorso(pos)
    local list = game.Workspace:children()
    local torso = nil
    local dist = 10000
    local temp = nil
    local human = nil
    local temp2 = nil
    for x = 1, #list do
        temp2 = list[x]
        if (temp2.className == "Model") and (temp2 ~= script.Parent) then
            temp = temp2:findFirstChild("HumanoidRootPart")
            human = temp2:findFirstChild("Humanoid")
            if (temp ~= nil) and (human ~= nil) and (human.Health > 0) then
                if (temp.Position - pos).magnitude < dist then
                    selectedPlayer = temp
                    torso = temp
                    dist = (temp.Position - pos).magnitude
                end
            end
        end
    end
    return torso
end



while true do
    wait(math.random(1,5))
    local target = findNearestTorso(script.Parent.HumanoidRootPart.Position)
    if target ~= nil then
        script.Parent.Humanoid:MoveTo(target.Position, target)
    end

end