Help with 2D point and click move script that will stop moving when it hits a wall

Hi! I am new to Unity and have been working on t$$anonymous$$s problem for the past four days. I'm not getting anywhere. Please help! I have gotten my player to move via mouse clicks and stop moving when it $$anonymous$$ts an obstacle. But when I click again above it w$$anonymous$$le it is touc$$anonymous$$ng a collider the player will float into the direction I clicked forever/until it $$anonymous$$ts another collider. I don't want t$$anonymous$$s to happen. I want it to go to the place I have clicked on even when it is touc$$anonymous$$ng a collider. Is it possible to do t$$anonymous$$s? (My game is 2D) My script:

 public class PointAndClick : MonoBehaviour {
         public float speed = 20f;
         public Rigidbody2D rb;
         public Vector2 destination;
         public Vector2 place;
         public Vector2 journey;
         // copy and pasted
         public Vector2 gap;
     // Use t$$anonymous$$s for initialization
     void Start () {
         rb = GetComponent<Rigidbody2D>();
         place = rb.transform.position;
     }
     
     // Update is called once per frame
     void FixedUpdate () {
         if(Input.GetMouseButtonDown(0)) {
             destination = Camera.main.ScreenToWorldPoint(Input.mousePosition);
             journey.x = destination.x - place.x;
             journey.y = destination.y - place.y;
             rb.velocity = new Vector2 (journey.normalized.x * speed * Time.deltaTime, journey.normalized.y * speed * Time.deltaTime);
         }
     }
     
     void LateUpdate () {
         place = rb.transform.position;
         // copy and pasted from here down
         gap.x = Mathf.Abs (destination.x) - Mathf.Abs (place.x);
         gap.y = Mathf.Abs (destination.y) - Mathf.Abs (place.y);
         if (.05 > Mathf.Abs (gap.x))
         if (.05 > Mathf.Abs (gap.y))
         rb.velocity = new Vector2 (0,0);
     }
     void OnCollisionEnter2D () {
         rb.velocity = new Vector2(0, 0);
         Debug.Log("point and click collision");
         }
 }
 

Help me Obi-Wan Kenobi. You're my only hope! P.S. I got most of t$$anonymous$$s script from https://www.youtube.com/watch?v=0pHzTIIiYaY&t=1366s P.P.S. I'm open to changing my moving mechanics I just want it to be a point and click that will stop when it $$anonymous$$ts an obstacle and works for 2D.