Physics objects pop up when crossing certain geometry

I remember experiencing this in Unity as well where a collider sweeping along a surface will tend to pop up off the surface at certain edges of the geometry. I typically solve this by modifying the geometry at the problem locations. Was just wondering if there was a specific name for this phenomenon so I could do some proper research on it and develop an understanding of the correct 3D modeling techniques to avoid this. My verbose google searches aren’t getting me anywhere.

I’ve attached an example of mesh edges that cause the pop-off to occur. My background is mostly in water-tight meshes, so I’m sure that’s what’s catching me up.