Reproduction steps:
1. Open the attached “repro-project“
2. Open the “Assets/Scenes/SampleScene.unity“ scene
3. Enter Play Mode
4. Observe the crash

Reproducible with: 2022.3.42f1
Not reproducible with: 2023.2.0a14, 6000.0.15f1
Could not test with: 2021.3.42f1, 2023.2.0a13 (due to package/compilation errors preventing Play Mode)

Reproduced on: Windows 10
Not reproducible on: No other environment tested

Notes:
1. Also reproduced in Player
2. Could not find exact regressed/fixed version due to compilation and package errors when downgrading the project

First few lines of the stack trace:
0x00007FF689CA8150 (Unity) physx::Bp::BroadPhaseABP::removeObjects
0x00007FF689CA8696 (Unity) physx::Bp::BroadPhaseABP::setUpdateData
0x00007FF689CA8782 (Unity) physx::Bp::BroadPhaseABP::update
0x00007FF689C3B5D9 (Unity) physx::Bp::AABBManager::finalizeUpdate
0x00007FF689C3FB91 (Unity) physx::Bp::FinalizeUpdateTask::runInternal