Rigidbody Gravity Slow on Lerp

Hello, Gravity Very Slow On Lerp. If i increase 0.1f+. Objects Going Very Crazy and Jittering
Its grabbable object.
transform.position = Vector3.Lerp(transform.position, latestPos, Time.deltaTime*0.1f);
            transform.rotation = Quaternion.Lerp(transform.rotation, latestRot, Time.deltaTime*0.1f);
            r.velocity = velocity;
            r.angularVelocity = angularVelocity;