Well, lerp is like saying "move 1% of current values towards this value" so over time that 1% becomes smaller, so it moves ever slower.
This makes a nice ease in or out effect,but as you see can lack precision.
Also using 0.01 is a bad idea, you should use dt or a form of dt/5 or such.
You could use a 3rd party "move to" behavior that can be found here, I hear it's neat.