Automatic car keeps circling around waypoint, how can I fix it?

I'm making a automatic car that uses pathfinding to find a way to drive to a destination but when it tries to it just does cicles around the waypoint but it does continue to the next one

What can I do to fix it and what is the problem with my code?

for _, waypoint in pairs(waypoints) do
		repeat
			
			local cframe = script.Parent.CFrame:ToObjectSpace(CFrame.new(waypoint.Position.X,script.Parent.Position.Y,waypoint.Position.Z))
			if (script.Parent.Position - Vector3.new(waypoint.Position.X,script.Parent.Position.Y,waypoint.Position.Z)).Magnitude < 20 then
				if cframe.X > 1 then
					goright(turnspeed)
				elseif cframe.X < -1 then
					goleft(turnspeed)
				elseif math.abs(cframe.X) < 0.5 then
					goforwards(true)	
				else
					goforwards(false)	
					if cframe.X > 0.5 then
						goright(turnspeed)
					elseif cframe.X < 0.5 then
						goleft(turnspeed)
					end
					
				end
			else	
				goforwards(false)
				if cframe.X > 0.5 then
					goright(5)
				elseif cframe.X < 0.5 then
					goleft(5)
				end
			end
			game:GetService("RunService").Stepped:Wait()
		until (script.Parent.Position - Vector3.new(waypoint.Position.X,script.Parent.Position.Y,waypoint.Position.Z)).Magnitude < 5 or stopval == true 
		index += 1
		stop()
	end

heres the full script

local maxspeed = 20
local normalspeed = 10
local turnspeed = 0.2


function gobackwards()
	local FL = script.Parent.Parent.Front.FrontLeft
	local FR = script.Parent.Parent.Front.FrontRight
	local BL = script.Parent.Parent.Back.BackLeft
	local BR = script.Parent.Parent.Back.BackRight

	FL.AngularVelocity = -10
	FR.AngularVelocity = 10
	BL.AngularVelocity = -10
	BR.AngularVelocity = 10
end

function goforwards(speedornot)
	local FL = script.Parent.Parent.Front.FrontLeft
	local FR = script.Parent.Parent.Front.FrontRight
	local BL = script.Parent.Parent.Back.BackLeft
	local BR = script.Parent.Parent.Back.BackRight

	if speedornot == true then
		FL.AngularVelocity = maxspeed
		FR.AngularVelocity = -maxspeed
		BL.AngularVelocity = maxspeed
		BR.AngularVelocity = -maxspeed
	else
		FL.AngularVelocity = normalspeed
		FR.AngularVelocity = -normalspeed
		BL.AngularVelocity = normalspeed
		BR.AngularVelocity = -normalspeed
	end
end

function goleft(speed)
	local FL = script.Parent.Parent.Front.FrontLeft
	local FR = script.Parent.Parent.Front.FrontRight
	local BL = script.Parent.Parent.Back.BackLeft
	local BR = script.Parent.Parent.Back.BackRight

	FL.AngularVelocity -= speed
	FR.AngularVelocity -= speed
	BL.AngularVelocity -= speed
	BR.AngularVelocity -= speed
end

function goright(speed)
	local FL = script.Parent.Parent.Front.FrontLeft
	local FR = script.Parent.Parent.Front.FrontRight
	local BL = script.Parent.Parent.Back.BackLeft
	local BR = script.Parent.Parent.Back.BackRight

	FL.AngularVelocity += speed
	FR.AngularVelocity += speed
	BL.AngularVelocity += speed
	BR.AngularVelocity += speed
end

function stop()
	local FL = script.Parent.Parent.Front.FrontLeft
	local FR = script.Parent.Parent.Front.FrontRight
	local BL = script.Parent.Parent.Back.BackLeft
	local BR = script.Parent.Parent.Back.BackRight

	FL.AngularVelocity = 0
	FR.AngularVelocity = 0
	BL.AngularVelocity = 0
	BR.AngularVelocity = 0
end

local PathfindingService = game:GetService("PathfindingService")

local destination = game.Workspace.pathfindgoal

local function getAverageVelocity()
	local motorFL = script.Parent.Parent.Front.FrontLeft
	local motorFR = script.Parent.Parent.Front.FrontRight
	local motorBL = script.Parent.Parent.Back.BackLeft
	local motorBR = script.Parent.Parent.Back.BackRight

	local vFR = -motorFR.Attachment1.WorldAxis:Dot(motorFR.Attachment1.Parent.RotVelocity)
	local vRR = -motorBR.Attachment1.WorldAxis:Dot(motorBR.Attachment1.Parent.RotVelocity)
	local vFL = motorFL.Attachment1.WorldAxis:Dot(motorFL.Attachment1.Parent.RotVelocity)
	local vRL = motorBL.Attachment1.WorldAxis:Dot(motorBL.Attachment1.Parent.RotVelocity)
	return 0.25 * ( vFR + vFL + vRR + vRL )
end



function goto(dest)
	local stopval = false
	script.Parent.Anchored = false
	--script.Parent.AlignOrientation.MaxTorque = 10000000000
	local path = PathfindingService:CreatePath({
		AgentRadius = 9,
		AgentHeight = 9,
		AgentCanJump = false,
		AgentCanClimb = false,
	})

	path:ComputeAsync(script.Parent.Position, dest.Position)

	local waypoints = path:GetWaypoints()

	local index = 1
	
	for _, waypoint in pairs(waypoints) do
		local part = Instance.new("Part")
		part.Shape = "Ball"
		part.Material = "Neon"
		part.Size = Vector3.new(0.6, 0.6, 0.6)
		part.Position = waypoint.Position
		part.Anchored = true
		part.CanCollide = false
		part.Parent = workspace.bleuh
	end
	
	for _, waypoint in pairs(waypoints) do
		repeat
			
			local cframe = script.Parent.CFrame:ToObjectSpace(CFrame.new(waypoint.Position.X,script.Parent.Position.Y,waypoint.Position.Z))
			if (script.Parent.Position - Vector3.new(waypoint.Position.X,script.Parent.Position.Y,waypoint.Position.Z)).Magnitude < 20 then
				if cframe.X > 1 then
					goright(turnspeed)
				elseif cframe.X < -1 then
					goleft(turnspeed)
				elseif math.abs(cframe.X) < 0.5 then
					goforwards(true)	
				else
					goforwards(false)	
					if cframe.X > 0.5 then
						goright(turnspeed)
					elseif cframe.X < 0.5 then
						goleft(turnspeed)
					end
					
				end
			else	
				goforwards(false)
				if cframe.X > 0.5 then
					goright(5)
				elseif cframe.X < 0.5 then
					goleft(5)
				end
			end
			game:GetService("RunService").Stepped:Wait()
		until (script.Parent.Position - Vector3.new(waypoint.Position.X,script.Parent.Position.Y,waypoint.Position.Z)).Magnitude < 5 or stopval == true 
		index += 1
		stop()
	end
	script.Parent.beep:Play()
	for _,v in pairs(workspace.bleuh:GetDescendants()) do
		v:Destroy()
	end
	--script.Parent.AlignOrientation.MaxTorque = 0
	spawn(function()
		wait(0.9)
		script.Parent.Anchored = true
	end)
end

while true do
	goto(workspace.start)
	wait(3)
	goto(destination)
	wait(3)
	goto(workspace.SpawnLocation)
	wait(3)
end

turns out the turn speed was too high! didnt think that would be the problem but it was i lowered it to 0.1 and its fine now