Reproduction steps:
1. Open the attached user's project and "SampleScene" scene
2. Enter play mode, then press ESC and exit the play mode

Expected result: Editor leaves the play mode
Actual result: Editor crashes

Reproducible with: 2019.4.25f1, 2020.3.5f1, 2021.1.4f1, 2021.2.0a14
Could not test with: 2018.4.34f1 (compiler errors)

Notes: Does no longer reproduce when setting ScoutShip -> ShipBody -> Rigidbody -> Collision Detection to "Discrete"

MacOS stack trace:
#0 0x00000113474e0e in physx::shdfnd::internal::HashBase<physx::shdfnd::Pair<physx::Sc::ElementSimKey const, physx::Sc::ElementSimInteraction>, physx::Sc::ElementSimKey, physx::shdfnd::Hash<physx::Sc::ElementSimKey>, physx::shdfnd::internal::HashMapBase<physx::Sc::ElementSimKey, physx::Sc::ElementSimInteraction, physx::shdfnd::Hash<physx::Sc::ElementSimKey>, physx::shdfnd::NonTrackingAllocator>::GetKey, physx::shdfnd::NonTrackingAllocator, true>::erase(physx::Sc::ElementSimKey const&)
#1 0x0000011346a1fa in physx::Sc::ElementInteractionMarker::~ElementInteractionMarker()
#2 0x0000011346efe8 in physx::shdfnd::PoolBase<physx::Sc::ElementInteractionMarker, physx::shdfnd::ReflectionAllocator<physx::Sc::ElementInteractionMarker> >::disposeElements()
#3 0x0000011346ee22 in physx::shdfnd::PoolBase<physx::Sc::ElementInteractionMarker, physx::shdfnd::ReflectionAllocator<physx::Sc::ElementInteractionMarker> >::~PoolBase()
#4 0x0000011346b41b in physx::Sc::NPhaseCore::~NPhaseCore()

Windows stack trace:
0x00007ff60eb7ecc2 (Unity) physx::Sc::ElementInteractionMarker::~ElementInteractionMarker
0x00007ff60eb7efa4 (Unity) physx::Sc::ElementInteractionMarker::`vector deleting destructor'
0x00007ff60eb8283a (Unity) physx::shdfnd::PoolBase<physx::Sc::ElementInteractionMarker,physx::shdfnd::ReflectionAllocator<physx::Sc::ElementInteractionMarker> >::disposeElements
0x00007ff60eb7e7f6 (Unity) physx::shdfnd::PoolBase<physx::Sc::ElementInteractionMarker,physx::shdfnd::ReflectionAllocator<physx::Sc::ElementInteractionMarker> >::~PoolBase<physx::Sc::ElementInteractionMarker,physx::shdfnd::ReflectionAllocator<physx::Sc::ElementInteractionMarker> >
0x00007ff60eb7ee44 (Unity) physx::Sc::NPhaseCore::~NPhaseCore