### 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 least_deep = -1;
		real_t min_depth;
		
		{
			Vector3 global_A = basis_A.xform(contact.local_A);
			Vector3 global_B = basis_B.xform(contact.local_B) + offset_B;
			Vector3 axis = global_A - global_B;
			min_depth = axis.dot(contact.normal);
		}
		for (int i = 0; i < contact_count; i++) {
			const Contact &c = contacts[i];
			Vector3 global_A = basis_A.xform(c.local_A);
			Vector3 global_B = basis_B.xform(c.local_B) + offset_B;
			Vector3 axis = global_A - global_B;
			real_t depth = axis.dot(c.normal);
			if (depth < min_depth) {
				min_depth = depth;
				least_deep = i;
			}
		}
		if (least_deep > -1) {
			
			contacts[least_deep] = contact;
		}
		return;
	}
	contacts[new_index] = contact;
	contact_count++;
}
void GodotBodyPair3D::validate_contacts() {