Thank you so much for the help!
Enabling Use CCD and increasing the solver iteration count unfortunately didn’t fix the issue. I played around with the value and decreasing the position solver iteration count actually caused it to get stuck and unstuck likely because of the collision inaccuracy.
However, I did try the chamfered mesh idea, and it worked! Interestingly, this also worked with the default cube static mesh. The bevels aren’t visible but the pawn no longer gets stuck to the ground.
Screenshot: Default cube with 18DOF Simplified Collision (bevel is invisible?)
Using auto convex collision for a beveled mesh also ended up also working.
I imagine a solution using box collision could be better as that has less geometry, or maybe I’m overthinking it.