Update solution found!
With tears in my eyes I want to communicate that I made it.
I achieved the result I wanted, a fluid movement of angular rotation using only the code.
This is the code related to the rotation motion:
@onready var visuals := $visuals as Node3D
#with inside skeleton and mesh
var target_angle : float
const ANGULAR_SPPED : float = TAU
func _physics_process(delta: float) -> void:
var input_dir := Input.get_vector("ui_left", "ui_right", "ui_up", "ui_down")
var direction := transform.basis * Vector3(input_dir.x, 0, input_dir.y).normalized()
if input_dir.length_squared() > 0:
target_angle = 0.75 * TAU - direction.signed_angle_to(Vector3(1,0,0), Vector3(0,1,0))
var angle_diff := wrapf(target_angle - visuals.rotation.y, -PI, PI)
if direction:
visuals.rotation.y += clampf(delta * ANGULAR_SPPED, 0, absf(angle_diff)) * signf(angle_diff)