I think 971 had an algorithm for a similar problem in 2019 (driving to the Rocket using the RR Tape) which might be worth taking a look at. Now that this is being brought up, I’m having trouble finding where I heard them talk about, but I think it was in one of the Spartan Series videos.
6328 also did some form of this during 2022, so you might want to consult that build thread as well. They talk about it in this post - their code is fully open source too.
If On the Fly trajectory generation isn’t working, it might be possible to calculate the radius of curvature between your current pose and the tag and pass that to your drive command.