TDW, believe me or not but I've made a guy go to the door, teleport through it and continue, all without turning (going bow-wards of course). It is very weird, as it appears Z-axis of the outgoing waypoint should point towards the way you teleport him, and the Z-axis of the recieving waypoint should point towards the outgoing one. That is if he goes bow-wards the 'sending' waypoint blue axis points to the bow and the 'receiving' waypoint towards the stern.
I must check though... I also made him walk through the wall between waypoint without turning, but I guess you've seen it already.