The settings I changed:
physics/3d/run_on_separate_thread: truephysics/3d/physics_engine: Jolt Physicsphysics/common/physics_ticks_per_second: 30physics/common/max_physics_steps_per_frame: 4physics/jolt_physics_3d/simulation/penetration_slop: 0.04physics/jolt_physics_3d/simulation/speculative_contact_distance: 0.04physics/jolt_physics_3d/simulation/baumgarte_stabilization_factor: 0.4physics/jolt_physics_3d/simulation/body_pair_contact_cache_distance_threshold: 0.005