Consistent Custom Character Collisions

I have a custom character controller that uses Shapecasts in order to interact with the environment. However, I have run into many issues that make the use of Shapecasts very inconsistent.

First off, Roblox Shapecasts lack margins. This is a given, but any attempt at making my own margins always comes with drawbacks. For example, if I hit a seam between two parts that are directly next to each other, I will completely stop moving. If I don’t attempt to make a margin solution, I will almost always clip through walls.

I have also tried other solutions such as FMShapecast by Ince_FS, but this one also has some inconsistencies such as not working with Wedges or randomly phasing through sloped parts. This probably is the closest I’ve gotten to a consistent solution, since it is basically Shapecasts with margins built in.

My game’s map collision is made entirely of regular BaseParts, so I don’t need to rely on any Mesh or Terrain collision.

My game uses Chickynoid, but I do not utilize Chickynoid’s default collision system. That collision system is very consistent and has little to no issues, but it is a pain to work with in regards to map changes or size changes.

Now, for the actual point of the post, does anybody have a tried and true method of custom character collision that has little to no hiccups? Ideally using Shapecasts, but I am willing to use regular Raycasts if necessary. If there is some other method unknown to me that doesn’t use either, I’d be willing to look into that too.

Let me know if you need my current code.