Most simple way to get the vehicle to certain position

Hi all.

I’ve been trying to control vehicles (fixed wing) with original telemetry devices, and wondering what is the simplest command to make a vehicle go to a certain position (lat, lon, alt).
MAV_CMD_NAV_LOITER_UNLIM seems good to me. Does the vehicle move to the designated position immediately when received this command? Or are there any better MAVLink command?