Reproduction steps:
1. Open the attached “BugRepro” project
2. Import the Custom Physics Authoring sample from the package manager (Window > Package Manager > Unity Physics > Samples)
3. Open the “Assets/Scenes/SampleScene.unity” Scene
4. Enter the Play Mode
5. Observe the Game view

Expected result: Both the blue and red cubes collide with the purple cube, which has a static collider
Actual result: The blue cube collides with the purple cube, but the red cube goes through the purple cube

Reproducible with: 1.0.16, 1.1.0-pre.3 (2022.3.19f1, 2023.2.8f1, 2023.3.0a19), 1.2.0-pre.6 (2022.3.19f1, 2023.2.8f1, 2023.3.0b5)

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

Note: Changing the starting position of the purple cube to Y=1 results in both cubes colliding with the purple cube