Here what i proposed to do with my camera system. It's in 3d, but princible remains the same.
Have a very small image, make it invisble if you wish, or just use an X and Y. Get this to follow the waypoints exactly. Now, get the actual enemies to move to the location of the point. Every time the point moves, read adjust the angle and move the enemy towards the point.
Move the enemy slightly slower, not much, than the point. The enemy should look as if it's moving smoothly.
Have a very small image, make it invisble if you wish, or just use an X and Y. Get this to follow the waypoints exactly. Now, get the actual enemies to move to the location of the point. Every time the point moves, read adjust the angle and move the enemy towards the point.
Move the enemy slightly slower, not much, than the point. The enemy should look as if it's moving smoothly.