FollowPlayer.cs

using System.Collections;
using System.Collections.Generic;
using UnityEngine;

public class FollowPlayer : MonoBehaviour
{
   public float moveSmoothness;
   public float rotSmoothness;

   public Vector3 moveOffset;
   public Vector3 rotOffset;

   public Transform player;

    private void FixedUpdate()
    {
        FollowCar();

    }

    void FollowCar() {
        HandleMovement();
        HandleRotation();
    }
    void HandleMovement()
    {
        Vector3 targetPos = new Vector3();
        targetPos = player.TransformPoint(moveOffset);
        transform.position = Vector3.Lerp(transform.position, targetPos,moveSmoothness * Time.deltaTime);


    }
    void HandleRotation()
    {
        var direction = player.position - transform.position;
        var rotation = new Quaternion();
        rotation = Quaternion.LookRotation(direction + rotOffset, Vector3.up);
        transform.rotation = Quaternion.Lerp(transform.rotation, rotation, rotSmoothness * Time.deltaTime);

    }

}