Physics overlap queries are not consistent when used against convex Mesh Colliders with a very small scale

Reproduction steps:
1. Open the attached 'ComputePenetrationTesting' project
2. Open the 'SampleScene'
3. Enter the Play mode
4. Observe the Console, note that collision is detected
5. While in Play mode, in the Scene View move the movingTestObject slightly inside the staticTestObject
6. Observe the Console

Expected result: the collision is always detected when the movingTestObject overlaps the staticTestObject
Actual result: the collision is not always detected when objects overlap

Reproducible with: 2019.4.34f1, 2020.3.25f1, 2021.2.7f1, 2022.1.0b2