I think you might need the -a flag before the <folder> you want to restore, that disabled interactive prrompting and just starts the recover. You should also use the -d flag and relocate the data to a path you know will always exists. NetWorker will try to restore the data to the original path, and if you are directing the recover that path might not exists on the target server.
recover -iY -c <source_server> -R <destination_server> -d C:\temp -a <path to folder or file to restore>
Cheers!
Maverick