Smoothly switching follower's path

I am using setPath(path [, config]) to seamlessly switch follower’s paths while the paths are overlapping each other:

follower.setPath(path, { startAt: lemming.pathTween.getValue(), from: lemming.pathTween.getValue(), to: 1, positionOnPath: true, rotateToPath: false, duration: 3000 });

While it works and it is the closest I got to achieve what I wanted, when the switch happens, the follower object will appear at the beginning of the path and only after that will gain the current position on path.

I am sure there must be a way to switch paths without the user noticing it visually.

Codepen:https://codepen.io/Nostradamus/pen/BaJVpem

Any help at all is welcome.
Thank you,

This seems to be an inherent limitation of startAt. :frowning: