Reproduction steps:
1. Open the attached “BugRepro” project
2. Open the “Assets/CollisionTest.unity” Scene
3. Make sure that the Scene view tab is opened
4. Enter the Play Mode
5. Observe the Scene view

Expected result: The collision between CubeA and CubeB is detected and cubes repel each other
Actual result: Collision between CubeA and CubeB is not detected

Reproducible with: 2023.3.0a19, 6000.0.22f1
Not reproducible with: 2022.3.48f1, 2023.3.0a18
Couldn't test with: 2021.3.44f1 (Could not resolve compilation errors)

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

Note: Enabling the updateLayerOverridePriority checkbox in the Collision Test component attached to CubeB resolves the issue