Continuous collision detection creates no angular momentum when contacting with another GameObject

Reproduction steps:
1. Open project “cb_unity”
2. Select “Wheel_RB” in the Inspector
3. Change “Rigidbody\Collision Detection” either to “Continuous” or “Continuous Dynamic”
4. Enter Play mode

Expected result: “Wheel_RB” realistically tumbles when hitting the floor
Actual result: “Wheel_RB” only bounces upwards when hitting the floor - no angular momentum is added

Reproducible with: 2020.3.47f1, 2021.3.22f1, 2022.2.15f1, 2023.1.0b11, 2023.2.0a10

Reproducible on: Windows 10, Reproducible on: macOS Catalina 10.15.7 (Intel)

Notes:

• Also reproduced in StandalonePlayer
• Using Discrete collision detection gives expected results