Are you using a custom setup? The example template does both an overlap and a trace check as the overlap handles when the check is fully inside of an object and the trace is capable of getting bones and more accurate hit detection.
How you define colliding to grip something is in the end up to you, I do not do any of that in the plugin itself as then it would limit you in situations where you want custom logic. If you want to use overlaps, just use them, either alongside traces or instead of them.
If you are based off of the example template and having that issue then you just don’t have your collision setup correctly and are not generating overlaps with the VRTracechannel.