Adding force/velocity that causes the body to arrive at point B in X seconds?

I have a RigidBody, maybe a dynamic body?

You see, I have a point B.

Currently, my object, is at point A.

I want to have my object get from point B to point A in exactly 4 seconds.

How do I do that?

If I use a tween (e.g. DoTween), the problem becomes trivial (i.e. lerping between point A to point B) - is this a good solution? I would have a kinematic RigidBody in that case, or is this inefficient?

I would be having 10-20 of these objects simultaneously.

 

The best way to know would be trying and see:

1. if it actually works,
2. how much strain all 20 objects moving at the save time would cause to your system.

 

In "cost" terms its not really a problem, unless they are moving thourgh a sea of rigidbodies.

Question is, does having said object kinametic okay for the gameplay.