I regret to inform that this worked before 2022.1 because of undefined behaviour when setting transform both from script and from physics (as part of interpolation) at the same time. Between 2017 and 2022, when a an interpolated rigidbody was present in a scene, we had to sync all queued transform changes to the physics engine every Update, not FixedUpdate actually. That was because of a limitation in some core underlying technology that was removed in the later years. So for that reason, we changed that behaviour to gain additional performance for the typical use cases. Please read more about this here: https://blog.unity.com/engine-platform/expanding-the-robotics-toolbox-physics-changes-in-unity-20221, section "Interpolation and extrapolation". Anthony.