There’s 2 approaches one that works, but only occasionally and isn’t reliant, or one that works but can fling you occasionally that I’m aware of.
#1 Change the state to Ragdoll on the client.
Changing the state to ragdoll gives it that desired effect where the parts don’t go through eachother and function like a regular ragdoll. Now obviously like I said it doesn’t work 100% of the time, there may be ways around this, but I’m unaware of any.
#2 Invisible Parts
This ones a normal approach a lot of developers weld parts that are cancollide true to each of the players limbs and make them smaller than the limb’s size to make the parts not go through eachother and clip, resulting in the desired effect you’re trying to achieve.