How to fix penetration in the interaction animation of two characters in UE?

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“I have a lot of wrestling animations where characters intersect with each other (like in the image, their hands intersect with the other character’s body). What are the possible ways to fix this in UE5? I am thinking about using IK rigs to create interactions or collision between the two characters but I am not sure if it is feasible or how to do it. Could anyone guide me on this? Thanks in advance!”