Character bump into terrain and jumps a little

The problem I have is that my game is voxel based, so the terrain is very blocky and not smooth, unlike normal terrain. The problem comes when the character/player will hit an "edge" of the terrain and jumps (I assume due to the capsule collision box) Is there a way of fixing this?

Here is a visual representation of the problem:
Problem:

What I want to happen is once the player hits the ledge, they should pop up or smoothly transition to the next height. Most of this could because of how I am using collision boxes. For reference the character is using Capsule Collision while the ground is using Mesh Collision, hence why its collision is very blocky.

I am new to Unity and want to learn how to do things the CORRECT way. So if anyone knows how to fix this, please help me!

Thank you for your time

 

Update: I was able to fix collision by separating the ground into "chunks" and using the convex option for the collision. With this way, you smooth out the inclines/declines, but with better resolution. If you want even more resolution, make the chunks smaller.