It’s generally called depenetration. The setting was removed (?) from body instances when Chaos absorbed PhysX. It’s now called push out velocity:
Note sure it can be set per-body in BPs but you try adjust the global setting, lower it from the default. Have a look at the doc in the abovementioned post:
There’s more to play with. Do post results if you manage to get it to a place where it becomes tolerable.