Rigidbody allows clipping through itself if under the weight of a heavier Rigidbody

Reproduction steps:

1. Open the “newRBtest” project
2. Open “SampleScene” scene
3. Press Play

Expected result: Cube does not clip through the platform
Actual result: Cube clips through the platform

Reproducible with: 2020.3.37f1, 2021.3.6f1, 2022.1.10f1, 2022.2.0b2, 2023.1.0a4

Reproduced on: Windows 10

Note: In the case of a repro project, to successfully reproduce the issue the Mass of the top cube should be set to be around 50.