Crash on PhysicsCommands::PhysX::BodySetPose when entering Play Mode in a specific project

How to reproduce:
1. Open the attached “IN-141849.zip”
2. Open the “MovementShowroom” scene
3. Enter Play Mode
4. Exit Play Mode
5. Observe the crash or repeat steps 4-5

Reproducible in: 6000.3.17f1, 6000.4.10f1, 6000.5.0a6, 6000.5.0b11, 6000.6.0a6
Not reproducible in: 6000.0.76f1, 6000.5.0a5

Note: It usually takes 3-5 attempts to get the crash to reproduce

First few lines of stacktrace:

0x00007FFB70687CD0 (Unity) PhysicsCommands::PhysX::BodySetPose
0x00007FFB70879D65 (Unity) Physics::BodyHandle::SetPose
0x00007FFB725248C8 (Unity) Rigidbody::ApplyConstraints
0x00007FFB725258CB (Unity) Rigidbody::AwakeFromLoad
0x00007FFB72CECBB0 (Unity) AwakeFromLoadQueue::InvokePersistentManagerAwak