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And don't think point A to Point B, think that the thing you move have a mass, and gravity affects it a lot.
Anyway, what I have done that I feel works the best is to make a lot of small test animations different ways and see what way looks the best to you, like sitting down, reloading a gun, and so on. Try different ways of setting up the splines if you use the graph editor, add some jitter for natural imperfect movements, smooth for smoothing of course, and any other thing you think would help.