Is there a way to mitigate penetration of heavy objects into light objects?

[Everynone]

I believe that only once I had to set
it to 4 or so

Because I never had to deal with stuff like this, apparently. For a 1:1000 mass ratio, this seems to work OK:

and is only required for the light object:

Solvers below 100 seem like you’re successfully balancing an anvil atop a rubber duck