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Thanks for the answer! The timelines part is exactly how I imagined doing it.
If this target position value really corresponds to proper coordinates, that would certainly be a big step towards getting the angles. I hope it's different from the "transform" value that you can get from a tag, which is a mystery to me (it gives 3 numbers as well, but those didn't seem to behave like coordinates when I tried it).
Anyway, I'll experiment with the followers like you suggested and see how things go.