Vehicle turning between points and ending turn in specific direction

Hello all, I am currently writing some car behaviour where a car follows a predefined spline parth strictly, and can switch splines mid way in the case of intersections and junctions. The problem I have now is that I have written it such that the car must navigate to the new spline on its own, i.e. the splines are some distance apart and not connected in any way, and the vehicle has to travel the distance between them. It’s got a turn speed, and it goes to its destination point just fine, but it will arrive at a weird orientation which causes it to try to realign to the new spline’s direction.

So I was wondering, how would I go about writing behaviour which would make the car start at some orientation and point, and end at the destination’s orientation and location as well? Assuming collision detection doesn’t factor into this, I just need a way to interpolate the movement of the vehicle smoothly as if a driver were making a right turn and a T-junction. The car has to end up in the same direction of the road it turned into.

Thanks in advance,