Physics.ComputePenetration returns False when two colliders overlap

Steps to reproduce:
1. Open the user’s project
2. Enter Play mode
3. Observe the Scene view
4. Move the Sphere into the Plane and further

Expected result: The Sphere is red while it touches the Plane
Actual result: The Sphere becomes green again while still touching the Plane

Reproducible with: 2020.3.40f1, 2021.3.11f1, 2022.1.18f1, 2022.2.0b8, 2023.1.0a10

Reproduced on: macOS Monterey 12.5.1 (Intel)