Articulation Body tree changes behavior after attaching a trigger Collider

How to reproduce:

1. Open the attached project
2. Enter Play Mode
3. Observe the different behavior of the 2 rightmost articulation trees

Expected result: both setups behave identically
Actual result: one of the setups is behaving differently because it has a trigger attached to it

Reproducible with: 2021.3.5f1, 2022.2.12f1, 2023.1.0b9, 2023.2.0a7