Articulation Body steals Colliders from a Rigidbody when the Rigidbody is a child of the Articulation Body

Reproduction steps:

1. Open user attached project "IN-23249_SetMaxImpulseTest.zip"
2. Open Assets > SampleScene
3. Enter Play mode

Expected result: Console window prints that the Collider is attached to the Rigidbody since it's on the same GameObject
Actual result: Console window prints that the Collider is attached to the Articulation Body

Reproduced with: 2020.3.45f1, 2021.3.19f1, 2022.2.8f1, 2023.1.0b6, 2023.2.0a4

Reproducible on: macOS 12.4 (Intel), Windows 10 (by the reporter)