### Godot version

Godot 4.0.2

### System information

Windows 10, NVIDIA GeForce 1060 GTX 3GB, Vulkan

### Issue description

Rigidbody collision against CharacterBody3D doesn't always trigger on_body_entered signal.
This happens when both objects are moving in the same direction

### Steps to reproduce

Play the test scene.
Press the right arrow key to move the character away from the rigid body. On contact no signal is emitted.


### Minimal reproduction project

[test.zip](https://github.com/godotengine/godot/files/11160540/test.zip)

int support_count_A;
	GodotShape3D::FeatureType support_type_A;
	
	shape_A_ptr->get_supports(p_xform_A.basis.xform_inv(mnormal).normalized(), max_supports, supports_A, support_count_A, support_type_A);
	
	int segment_support_idx = -1;
	float segment_hit_length = FLT_MAX;
	Vector3 segment_hit_local;
	for (int i = 0; i < support_count_A; i++) {
		supports_A[i] = p_xform_A.xform(supports_A[i]);
		Vector3 from = supports_A[i];
		Vector3 to = from + motion;
		Transform3D from_inv = p_xform_B.affine_inverse();
		
		
		
		Vector3 local_from = from_inv.xform(from - motion * 0.1);
		Vector3 local_to = from_inv.xform(to);
		Vector3 rpos, rnorm;
		if (shape_B_ptr->intersect_segment(local_from, local_to, rpos, rnorm, true)) {
			float hit_length = local_from.distance_to(rpos);
			if (hit_length < segment_hit_length) {
				segment_support_idx = i;
				segment_hit_length = hit_length;
				segment_hit_local = rpos;
			}
		}
	}
	if (segment_support_idx == -1) {