Are Character Controllers inefficient?

I read somewhere that there should not be more than 1 active Character Controller in a scene at a time.

Would I be alright using 4 Character Controllers at a time?

I’m making a multiplayer 2D platformer and I’m using Rigidbodies for character movement. Everything is fine except for one problem, when you fall from a high jump, the character goes into the ground a little bit reducing the player’s forward momentum. Character Controllers do not have this problem when I use them (I believe it’s due to the different way Character Controllers handle collision detection).

I’d prefer to stick with the rigidbodies, so if anyone has a solution to the “entering the ground for a frame” problem that’d be awesome.

Decrease the min penetration for penalty in the physics settings; also try increasing the solver iteration count.