Physics.ComputePenetration returns false when a non-convex MeshCollider is overlapping a CapsuleCollider

How to reproduce:
1. Open the attached Project "penetrationTest" and load Scene "SampleScene"
2. In the Hierarchy, select the "PenetrationLogger" GameObject
3. In the Inspector, right-click the "Penetration Info Logger" Component and click "Log"
4. Observe the Console

Expected result: Physics.ComputePenetration returns true
Actual result: Physics.ComputePenetration returns false

Reproducible with: 2020.3.46f1, 2021.3.20f1, 2022.2.9f1, 2023.1.0b6, 2023.2.0a4

Notes:

• Toggling the MeshCollider in the Scene to be convex makes Physics.ComputePenetration return the correct result