Jittering movement Unity C# follow script

I'm creating a simple movement/following script in C#. I have a prefab (ball) spawn randomly within the Awake() method, at a random area in my scene. I then have another script attached to a different game object (robot) that at the start of the game shall move towards the ball.

Now the movement works but when the game object has come into the the minDistanceToTarget it begins to "jitter" and move around.

Here's the movement script:

public class RobotMovement : MonoBehaviour {

    // Movement
    private Transform target;
    private float speed = 2f;
    private float distance;
    private float minDistanceToTarget = 1f;

    // Rotation
    private Vector3 targetDirection;
    private Quaternion lookAtRotation;
    private float RotationSpeed = 2f;

    void Start() {
        target = GameObject.FindGameObjectWithTag("Ball").transform;
    }

    void Update() {
        targetDirection    = target.position - transform.position;
        lookAtRotation     = Quaternion.LookRotation(targetDirection);
        transform.rotation = Quaternion.Slerp(transform.rotation, lookAtRotation, RotationSpeed * Time.deltaTime);

        distance = Vector3.Distance(transform.position, target.position);
    
        if (distance >= minDistanceToTarget) {
            transform.position = Vector3.MoveTowards(transform.position, target.position, speed * Time.deltaTime);
        }
    }
}

Edit I tried to change the affect to use FixedUpdate and affect the RigidBodies instead.

public class RobotMovement : MonoBehaviour {
    private Rigidbody robot;
    public Rigidbody target;
    
    // Movement
    private float speed = 2f;
    private float minDistanceToTarget = 2f;

    void Start() {
        robot  = GetComponent<Rigidbody>();
        target = target.GetComponent<Rigidbody>();
    }

    void FixedUpdate() {
        if (Vector3.Distance(robot.position, target.position) > minDistanceToTarget) {
            robot.MovePosition(target.position * speed * Time.deltaTime);
        }
    }
}

Edit I now use a new movement method and include a rotation calculation. But it still jumps and jitters

public class RobotMovement : MonoBehaviour {
    private Rigidbody robot;
    private Transform ball;

    // Movement
    private float robotMovSpeed = 2f;
    private float distanceToTarget;
    private float distanceToStop = 2f;

    // Rotation
    private Vector3 targetDirection;
    private Quaternion lookAtTarget;
    private float rotationSpeed = 2f;

    void Start() {
        robot = GetComponent<Rigidbody>();
        ball  = GameObject.FindGameObjectWithTag("Ball").transform;
    }

    void FollowTarget(Transform target, float distanceToStop, float speed) {
        distanceToTarget = Vector3.Distance(robot.position, target.position);

        // Rotation
        targetDirection = target.position - robot.position;
        lookAtTarget    = Quaternion.LookRotation(targetDirection);

        if (distanceToTarget >= distanceToStop) {
            transform.rotation = Quaternion.Slerp(transform.rotation, lookAtTarget, rotationSpeed * Time.deltaTime);
            robot.MovePosition(robot.position + (target.position - robot.position).normalized * speed * Time.deltaTime);
        }
     }  

    void FixedUpdate() {
        FollowTarget(ball, distanceToStop, robotMovSpeed);
    }
}