I remember watching the splines video for entertainment, thinking "Surely it can't be this hard for the common case: where we're not too picky, our points are far apart, and we don't need to minimize the segment count. This has to be a solved problem right?" After a bunch of fiddling with a project I had to come crawling back. It's so easy to get kinks, and derivative discontinuities are very noticeable. In the end I switched to a force-based navigation method instead a fixed path iirc.