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Keep agent object upright via AI Lerp or other script?

This is kind of the place, because I want performant, and I already have the agent being turned to face its destination. SO I was wondering if there is a way to include a restraint on the X and Z at the same time so the AILerp agent stays upright, better than looking real funny on hillsides or if on top of a sharpers peak, sometimes they twist 90 degrees and are almost laying down on their faces or backs.

Hi

Do you think you could show a screenshot or video of this?