For anyone looking for a quick fix (this will not let you see the data of the PhysicsCollider, but at least you can see all the other data):
1. Find the PropertyVisitor.cs in Packages/Properties/Runtime/Unity.Properties.
2. Open it in an editor.
3. Find the method with the following signature (should be around line 45): public VisitStatus VisitProperty<TProperty, TContainer, TValue>(TProperty property, ref TContainer container, ref ChangeTracker changeTracker) where TProperty : IProperty<TContainer, TValue>
4. Replace the entire method with the following code:
public VisitStatus VisitProperty<TProperty, TContainer, TValue>(TProperty property, ref TContainer container, ref ChangeTracker changeTracker)
where TProperty : IProperty<TContainer, TValue>
{
try
{
// Give users a chance to filter based on the data.
if (IsExcluded<TProperty, TContainer, TValue>(property, ref container))
{
return VisitStatus.Handled;
}

var value = property.GetValue(ref container);
var valueChangeTracker = new ChangeTracker(changeTracker.VersionStorage);

var status = property.IsContainer
? TryVisitContainerWithAdapters(property, ref container, ref value, ref valueChangeTracker)
: TryVisitValueWithAdapters(property, ref container, ref value, ref valueChangeTracker);

if (property.IsReadOnly)
{
return status;
}

property.SetValue(ref container, value);

if (valueChangeTracker.IsChanged())
{
changeTracker.IncrementVersion<TProperty, TContainer, TValue>(property, ref container);
}

return status;
}
catch (System.Exception ex)
{
UnityEngine.Debug.LogWarning(ex.ToString());
return VisitStatus.Unhandled;
}
}

5. The exception is now caught and you can use the inspector on entities with a PhysicsCollider component.

Same issue in 2019.3.7b