FiveM Precise waypoint teleport script. Always teleports at the top most level, so if you mark a building it will teleport to the top of that building (No permissions, client side)

tp.lua

RegisterCommand("tp", function(source, args, rawCommand)
	local waypointBlip = GetFirstBlipInfoId(GetWaypointBlipEnumId())
	local blipPos = GetBlipInfoIdCoord(waypointBlip) -- GetGpsWaypointRouteEnd(false, 0, 0)

	local z = GetHeightmapTopZForPosition(blipPos.x, blipPos.y)
	local _, gz = GetGroundZFor_3dCoord(blipPos.x, blipPos.y, z, true)

	SetEntityCoords(PlayerPedId(), blipPos.x, blipPos.y, z, true, false, false, false)
	FreezeEntityPosition(PlayerPedId(), true)

	repeat
		Citizen.Wait(50)
		_, gz = GetGroundZFor_3dCoord(blipPos.x, blipPos.y, z, true)
	until gz ~= 0

	SetEntityCoords(PlayerPedId(), blipPos.x, blipPos.y, gz, true, false, false, false)
	FreezeEntityPosition(PlayerPedId(), false)
end, false)