Question Rigidbody and navmesh

I got a spider with has a rigidbody and a navmesh agent. The spider walks proceduraly with some code and IK, but I got some problems, I want the spider to walk using physics and not by a navmesh agent, so I think I need some code that:
-Activates the navmesh.
-Calculates the next step to the path.
-Stores the position in a vector.
-Deactivates the navmesh.
-Moves the rigidbody tothe position by adding forces (with a margin of 1 meter)

Is this possible? The robots shown in Karlson devlogs behave like this.