I assume all you need to do is to calculate the angles which it will need to turn towards the location you clicked at, and after that you can use the tween node to animate it over a specific amount of time or you can "make" that animation yourself using angular velocity for a specific velocity but varying time...
EDIT: btw for every angle you can calculate it by calculating the angle on the perpendicular plane( aka for angle on the Z axis you calculate on the XY plane and for the angle on the X axis you calculate on the YZ plane )