How to let physics bodies penetrate each other slightly

In my game there are lots of characters that get stuck on each other all the time. I’d like to let them push past each other to help prevent that, but the physics engine doesnt seem to allow this behavior. My characters current get stuck a lot.

In order to prevent this I’ve tried messing with the SetMaxDepenetrationVelocity setting which at high and low values doesn’t seem to make any difference.

Does anyone have any suggestions?