Rotate Physics Body (PhaT) with Animation Blueprint

I have a tank set up with bones. If I set every physics body to simulated/default it behaves like a rigid body and I can move the tank around by applying forces. But I cannot control the turret/cannon mounted on top of the tank.

Then, if set the turret/cannon to kinematic, I can control this bone through the animation blueprint. This is as expected. But I lose the feature of the turret/cannon blocking collision, so it can move through objects pushing them away but itself remaining uneffected.

I’d like to keep both properties: Controlling the turret/cannon and the blocking collision response. Though, I cannot figure out how this should work.

Here is a picture of the tank inside PhaT with the turret/cannon bone/body selected in orange: