Question Problem with box collider vs mesh collider

Hey everyone. So I have 2 cubes; one that's Probuilder which has a mesh collider, and a Unity Cube which has a box collider. I have a a VR controller which represents my real hand, and parented to that is a VR hand that has capsule colliders for the fingers. I'm using a configurable joint to have the VR hand follow my real hand, which allows my VR hand not to go through objects such as those cubes.

If I drag my VR controller down through the Unity Cube (box collider), the VR hand gets stopped at the top of the cube regardless on how far down I go through it. Thats exacly what I want. But if I do the same for the Probuilder cube (mesh collider), when I get about halfway through the cube the VR hand breaks through. It seems that if I go really slowly through the cube, then it works with the mesh collider. Is there a setting I need to tweak to prevent that from happening?

Any thoughts would be greatly appreciated!