Can't sync Mixamo animation with Nav Mesh Agent NPC character

Hi,
My goal is to create an NPC character that turns and walks to a specified position. I've downloaded the Mixamo idle and walking animations and created a simple animator controller. When I run it, the NPC walks perfectly (flat on the ground and no sliding).

Now, I want to get it to turn and walk towards a specified position. Here's what I tried:

1. Created a NavMesh surface on my plane (there are no obstacles).
2. Added a Nav Mesh Agent to my character.
3. Disabled Apply Root Motion on the animator controller.
4. Wrote a simple script:

Code (CSharp):

1. void MoveToTarget()
2.     {
3.         agent.SetDestination(target.position);
4.         agent.isStopped = false;
5.     }
6.  
7.     // Update is called once per frame
8.     void Update()
9.     {
10.         if (target)
11.         {
12.             MoveToTarget();
13.         }
14.     }

Now, the character floats above the nav mesh and slides along the ground as the animation walking is not in-sync with the character movement.

Questions
Why is it floating?
Is this the best approach to get what I want?
Should I even be using a nav mesh at all, or could this be done with a character controller script?

Thanks for your time.

 

I think I have it basically working. I changed it to not use nav mesh and then did the movement as follows:
var step = _speed * Time.deltaTime; // calculate distance to move
transform.position = Vector3.MoveTowards(transform.position, _target.position, step);