Reproduction steps:
1. Open the attached “PhysicsTest.zip” project
2. Open the “SampleScene” scene
3. Enter the Play mode
4. Observe the Game view

Expected result: The Cube lands on top of the Collider without clipping
Actual result: The bottom red part of the Cube completely clips under the Collider

Reproducible with: 2021.3.41f1, 2022.3.39f1, 6000.0.12f1

Reproducible on: Windows 11
Not reproducible on: no other environment tested

Notes:
- Does not reproduce if Collision Detection is set to Continuous Speculative
- The issue fixes itself if IsKinematic is toggled off while the Cube is clipped
- Does not reproduce if Gravity is set to “-156.96” instead of “-9.81” in the Project Settings
- Commenting out {{rb.isKinematic = true;}} from the {{StopOnCollision.cs}} script, makes the Cube clip under the Collider during the collision but return to the expected position creating a bouncing effect
- Did not reproduce when Fixed Timestep value was set to 0.01 or 0.03 in the Project Settings