When setup SetDestination() and other method.

Hi!
I was searching in a documentation for the best way on how to setup correctly the AI of my enemy.
The only i have found is, you must change SetDestination in LateUpdate, because when i try it in a earlier frame isn´t working correctly.
--edit
When i read that:
https://docs.unity3d.com/ScriptReference/AI.NavMeshAgent.SetDestination.html

Maybe when i want to get my enemy goind to other point, should i do that:
-> agent.stop -> agent.SetDestination() :
when path is completed if when patrol done? or when is calculated new destination?

1. 
   
   Code (CSharp):

   1. if (!NavMeshAgent.pathPending && !NavMeshAgent.hasPath) {
   2.             Debug.Log ("I have reached my destination!");

Is there any part of documentation that i have mistake?

Regards,