Hi pafuhana1213,
I found this plug-in half a year ago, after integrating it into my project, it solved nearly all of my problems regarding physic simulation while traversing at high speed. I wrote a blog post about this, and I hope you enjoy reading it.
Here is a BIG THANK YOU for your effort! :3
https://media.indiedb.com/cache/images/games/1/70/69632/thumb_620x2000/cheer_stg_06_text.gif