Velocity Object Movement Concept ?

So in all 2 concepts: 1. Selecting a model then clicking somewhere for it to rotate and move to. 2. using path finding on pre-determined notes of they are close enough otherwise just going point A to B this is for the sake of avoiding collisions with buildings in city and avoiding having to place way points on the roads

I am quite certain using velocity would work best so that the objects can still collide that way they wont clip and can still detect if things collide with them such as a bullet or another unit.

Now i can evaluate and understand most code fine i just need some guidance on what to reference and or any other info that would point out the key concepts i need to do such a thing