Reproduction steps:
1. Open the attached project "1421306.zip"
2. Enter Play Mode
3. Observe the Console window when the "Detectable" GameObject enters, is inside, and exits the "Detector" GameObject

Expected result: OnTriggerEnter is not detected when the "Detectable" is inside the "Detector". OnTriggerExit is detected when the "Detectable" leaves the "Detector".
Actual result: OnTriggerEnter is detected. OnTriggerExit is not detected.

Reproducible with: 2020.3.35f1, 2021.3.4f1, 2022.1.3f1, 2022.2.0a13
Could not test: 2019.4.39f1 - no Articulation Body

Reproduced on: Windows 10 Pro

Notes
- The "Detectable" GameObject is set to be the parent of the "Detector" GameObject when the "Detectable" is inside the "Detector"