Question PhysX upgrade: Temporal Gauss-Seidel solver much less stable than PGS

I tried the new Temporal Gauss-Seidel solver but noticed it's much less stable than the old PGS in my tests. Joints which previously were completely stable are exploding and friction is more unreliable (collisions are out of control).

Is there any information about advantages of this solver, other than it "should be more stable"? Is there an upgrade-guide ? I'm just trying to understand if I should invest more time tweaking my scene or if there's a basic misunderstanding about what it is good for.

I found this page but it's not very useful:
https://gameworksdocs.nvidia.com/Ph.../RigidBodyDynamics.html#temporal-gauss-seidel

 

2019.3 which version? latest beta?

 

The last one in the Hub, 2019.3.0f3 (haven't tried f4 yet)

 

I did hear some noise from @yant about something related so there may be merit in providing a repro case

 

And this tweet seems promising (alpha though): https://twitter.com/AnthonyYakovlev/status/1204751094494179328?s=20

Forum: https://forum.unity.com/threads/featherstones-solver-for-articulations.792294/

 

I’ll see if I can create a simple repro case. Articulations definitely look interesting!