How to properly handle collisions for a skinned mesh rig?

I really don’t know how to handle collisions properly for this rig. I tried making the humanoid root part larger so its feet are more precise on the ground when the rig moves to higher elevated platforms, however, by doing this it’s not able to navigate upstairs, it gets stuck.

Not too sure what I should do, any help appreciated, thanks.

Gonna bump because I still really need help figuring this out :confused: