Rigidbody GameObject clips through a Collider when Fixed Timestep is set to 0.02 and velocity and isKinematic values are set in OnCollisionEnter()

Reproduction steps:
1. Open the attached “PhysicsTest.zip” project
2. Open the “SampleScene” scene
3. Enter the Play mode
4. Observe the Game view

Expected result: The Cube lands on top of the Collider without clipping
Actual result: The bottom red part of the Cube completely clips under the Collider

Reproducible with: 2021.3.41f1, 2022.3.39f1, 6000.0.12f1

Reproducible on: Windows 11
Not reproducible on: no other environment tested

Notes:

• Does not reproduce if Collision Detection is set to Continuous Speculative
• The issue fixes itself if IsKinematic is toggled off while the Cube is clipped
• Does not reproduce if Gravity is set to “-156.96” instead of “-9.81” in the Project Settings
• Commenting out rb.isKinematic = true; from the StopOnCollision.cs script, makes the Cube clip under the Collider during the collision but return to the expected position creating a bouncing effect
• Did not reproduce when Fixed Timestep value was set to 0.01 or 0.03 in the Project Settings