Best way to animate an Object3D from one point to another

Hey all,
I have a point P1(x1,y1,z1) and a point P2(x2,y2,z2). I want to animate my object from P1 to P2. I am already aware of several methods such as this. I was wondering if there anymore efficient ways to animate across all the three dimensions. Without usage of any library like tween.js? Thanks in advance!