Help debugging and make pathfinding ai script better?

So recently I've made my first attempt at making a little pathfinding ai using roblox's pathfindingservice. It's still a little bit buggy sometimes. And recently I found out that sometimes it first walks to a weird point on the map before actually walking to the destination.

Here's the script, it's quite long.

ServerSided script in ServerScriptService:

--by blacksmiley0

local Rex = game.Workspace:WaitForChild("Rex")
local Humanoid = Rex.Humanoid
local Delay = 1
local ObjectiveReached = false
local y1 = 0
local y2 = 0
local Time = 0
local Time2 = 0
local distance2 = 0
local ShowPath = false --Show Path
local times = 0
local NewDistance = 1 

function WalkTo(Start, Objective)
    local path = game:GetService("PathfindingService"):ComputeRawPathAsync(Start, Objective, 500) --Create a Path
    local points = path:GetPointCoordinates() --Create Table with Coordinates

    if Enum.PathStatus.Success then --Check if we could compute a Path  
        if ShowPath then --Create blocks on the points to visualize path, set this to true if you want to see the path the npc will take.
            for p = 1, #points do
                local part = Instance.new("Part")
                part.FormFactor = Enum.FormFactor.Symmetric
                part.CanCollide = false
                part.Size = Vector3.new(1,1,1)
                part.Position = points[p]
                part.Anchored = true
                part.Parent = game.Workspace.Points
            end
        end

        for p = 1, #points do
            local path = game:GetService("PathfindingService"):ComputeRawPathAsync(Start, Objective, 500) --Create a Path
            local points = path:GetPointCoordinates() --Create Table with Coordinates


            if ShowPath then --Create blocks on the points to visualize path, set this to true if you want to see the path the npc will take.
                for p = 1, #points do
                    local part = Instance.new("Part")
                    part.FormFactor = Enum.FormFactor.Symmetric
                    part.CanCollide = false
                    part.Size = Vector3.new(1,1,1)
                    part.Position = points[p]
                    part.Anchored = true
                    part.BrickColor = BrickColor.new(0, 0, 0)
                    part.Parent = game.Workspace.Points
                end
            end


            if points[p] ~= nil then
                if (Rex.Torso.Position - points[p]).Magnitude > 9 then
                    local path2 = game:GetService("PathfindingService"):ComputeRawPathAsync(Rex.Torso.Position, points[p], 100) --Create a Path
                    local points2 = path2:GetPointCoordinates() --Create Table with Coordinates

                    for i = 1, #points2 do      
                        if ShowPath then --Create blocks on the points to visualize path, set this to true if you want to see the path the npc will take.
                            for i = 1, #points2 do
                                local part = Instance.new("Part")
                                part.FormFactor = Enum.FormFactor.Symmetric
                                part.CanCollide = false
                                part.Size = Vector3.new(1,1,1)
                                part.Position = points2[i]
                                part.Anchored = true
                                part.BrickColor = BrickColor.new(1, 0, 0)
                                part.Parent = game.Workspace.Points2
                            end
                        end
                        if points2[i] ~= nil then
                            Humanoid:MoveTo(points2[i]) --Move to the desired position
                            if i ~= 1 then --Checking if he needs to jump. Make sure you do not try to index p - 1 when p = 1 because then you get 0
                                local y1 = points2[i - 1]           
                                local y2 = points2[i]

                                if y1.Y < y2.Y then --Check if Y coordinate has changed to see if we need to jump
                                    wait(0.3)
                                    Rex.Humanoid.Jump = true
                                end 
                            end

                            repeat
                                wait()
                                NewDistance = (Rex.Torso.Position - points2[i]).Magnitude
                            until NewDistance < 4
                        end
                    end
                end

                Humanoid:MoveTo(points[p]) --Move to the desired position
                if p ~= 1 then --Checking if he needs to jump. Make sure you do not try to index p - 1 when p = 1 because then you get 0
                    local y1 = points[p - 1]            
                    local y2 = points[p]

                    if y1.Y < y2.Y then --Check if Y coordinate has changed to see if we need to jump
                        wait(0.3)
                        Rex.Humanoid.Jump = true
                    end 
                end

                repeat
                    wait()
                    local distance = (game.Workspace.Rex.Torso.Position - points[p]).Magnitude
                    if p ~= #points then
                        distance2 = (game.Workspace.Rex.Torso.Position - points[p + 1]).Magnitude
                    else
                        distance2 = 7
                    end

                    Time = Time + 1
                    if Time >= 25  then --If Rex takes to much time to get to the next position, he will jump.
                        Rex.Humanoid.Jump = true
                    end


                until distance < 4 or distance2 < 4 --Check if we are close enough to the point
            end
            Time = 0
        end
    end
end

script.Activate.Changed:connect(function(Value) --This is so we can activate the pathfinding from another script by simply changing the values inside the script. 
    if Value then
        script.Activate.Value = false
        WalkTo(script.Start.Value, script.Finish.Value)
        Rex.Torso.Anchored = true
        script.Finished.Value = true
    end
end)

if you see anything that I should change, please tell me.