"InvalidOperationException: Baking error" when baking a dynamic body with "Smoothing" set to "Interpolation" or "Extrapolation"

How to reproduce:
1. Open the attached project “PhysicsBakingBug.zip”
2. Open Scene “TestScene“ (Assets/Scenes)
3. Enter Play Mode

Expected result: No error in the Console
Actual result: “InvalidOperationException: Baking error: Attempt to add duplicate component Unity.” error in the Console

Reproducible with: 1.0.0-exp.15 (2022.2.2f1, 2023.1.0a25)
Can’t test with: 2020.3.43f1, 2021.3.16f1, 1.0.0-exp.12 (2022.2.2f1, 2023.1.0a25) (Errors in the Console)

Reproduced on: macOS 13.0.1 (Intel)

Note:

• The issue causes the Transform of the body to always be 0,0,0 when in Play Mode
• Can’t test builds, error when trying to build