Play Walk Animation until the GameObject reaches a specific point

(2d Project)
Hello everyone,
I have an Animator with 3 Animation States (below image):

The problem is that I have a trigger that I activate when I want to go from the idle state to the walk state, therefore it covers a small distance "walking" and then it hovers over the area doing no animation, but I want my object to do the walk animation until it reaches a specific point(Vector3). The object moves with the Vector3.MoveTowards function.
Thanks in advance

 

I too want an answer for this