Reproduction steps:
1. Open the “SetMaxImpulseTest” project
2. Open Assets/SetMaxImpulseTest.unity scene
3. Enter the Play Mode
4. Observe the “Articulation CarBalls” (on the right) and “Rigid CarBalls” (on the left) GameObjects

Expected results: SetMaxImpulse is evaluated on both GameObjects
Actual results: SetMaxImpulse is not evaluated on “ArticulationBody” GameObject

Reproducible with: 2021.3.16f1, 2022.1.24f1, 2022.2.2f1, 2023.1.0a24, 2023.2.0a4
Could not test with: 2020.3.43f1 (The type or namespace name 'ModifiableContactPair' could not be found (are you missing a using directive or an assembly reference?))

Reproduced on: Intel MacOS 13.1

Notes:

• When the “Max Impulse” property is set to 0 both objects fall through the “TestArea” GameObject immediately
• When the “Max Impulse” property is set to 0.1 only the “Rigid CarBalls” GameObject falls through the “TestArea” GameObject
• When the “Max Impulse” property is set to 1 or more both GameObjects behave similarly