How do I make pathfinding on hold?

Somewhere I read about it, so I know using every frame -> recalculate pathfinding for new target (touch.X/touch.Y) is not good idea due to CPU usage.

So I would like to ask how can I make movement (avoid solid objects) and player will follow position of "is in touch" coordinates?

Generally similar controls like for ex. in Diablo and other hack/slash RPG.

Thank you very much for any help.

You can do something like this:

On touch start -> Player find path to Touch.x, Touch.y

Is in touch
Every 0.3 seconds -> Player find path to Touch.x, Touch.y

Player on path found -> Player move alone path