Dynamically Spawn Phyics Sphere Per Entity And Check For Collision in UE5

Hi,
I am trying to dynamically create Physics entities associated with thousands entities walking on the sidewalk in my simulation. For performance reasons the entities are not assigned an Actor class or and they are not visible. We want to make sure that they don’t run into each other. To achieve that we used PhysX functions like createRigidDynamic and createShape to define a sphere shape for each entity and then use PxScene::sweep to sweep a sphere per tick to detect potential collision so the entity can walk past them. We were using UE4 which supported these PhysX functions and all the code is in C++.

Now we have migrate to UE5 and want to achieve the same. It looks like UE5 doesn’t support PhsX anymore and offers Chaos Physics. But it doesn’t look like UE5 has similar functions to offer that allow me to dynamically create a physics entity, add it to physics scene and then sweep a sphere in front of the entity to detect collision. It would be great if some one can point me to the functions that can help me achieve this. We are working in C++ and it’s important that we are able to do this at runtime.