Avoid VR Camera go through walls

Hello guys, I’m implementing the system to avoid the player to look into walls and some meshes.
I tried the “push back” and the fade out systems, but neither of the two convinces me.

The push back system does not allow me to approach a table from above because of the capsule collision.
And the fade out system is imprecise because I can enter a wall from one side and detect the end overlap from the opposite side.

You got any solution?

Thanks in advance