The humanoid ragdoll state makes all limbs collideable.
Maybe if you force the humanoid to always remain in it’s ragdoll state it will work.
I’ve tried it before and it worked, one weird thing is that Roblox sometimes automatically disables the ragdoll state after a amount of seconds causing the limbs to clip through the ground again, not sure why that happens and haven’t found a solution for that yet.
If the ragdoll state doesn’t work then try what someonedie suggested.
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