Reproduction steps:
1. Open the “CylinderDebug” project
2. Open the “scene“ scene
3. Enter Play Mode
4. In the Scene view observe the drawn physics debug

Expected result: 10 cylinder shapes
Actual result: 2 cylinder and 8 distorted shapes

Reproduced in: 1.0.0-pre.65 (2022.3.7f1), 1.0.11 (2022.3.7f1, 2023.1.8f1, 2023.2.0b3)
Not reproduced in: 1.0.0-pre.44 (2022.3.7f1)
Could not test in: 0.51.1-preview.21 (2021.3.29f1) (LocalTransform and AddSharedComponent not found)

Reproduced using: macOS 13.4.1 (Intel), Windows 11

Reproduced with orientations:
quaternion.identity
quaternion.RotateX(math.radians(180.0f))
quaternion.RotateY(math.radians(-90.0f))
quaternion.RotateY(math.radians(90.0f))
quaternion.RotateY(math.radians(180.0f))
quaternion.RotateZ(math.radians(-90.0f))
quaternion.RotateZ(math.radians(90.0f))
quaternion.RotateZ(math.radians(180.0f))

Not reproduced with orientations:
quaternion.RotateX(math.radians(-90.0f))
quaternion.RotateX(math.radians(90.0f))

Notes:
1. Cylinder colliders are created in “scene” scene > “CylinderCreator” GameObject > “Cylinder Creator” component
2. Debug display is enabled in “subscene” scene > “Physics” GameObject > “Physics Debug Display” component