Idk how contact shadows algorithm work, but it looks like it calculate some distance, at least for cut off. so maybe it can be lerped to zero after some distance, all that half leg shadows look really ugly.https://i.gyazo.com/23bf2a161ae5e8bef743cccd15ab5086.png
It would be easier to set up one distance for sharp contact shadows and another distance for a blended contact shadows.