Colliders unwantedly overlap each other

I’m learning the collision in Unity and when I make two box colliders they seem to move inside each other a little bit when colliding. I would like to have them act as in real life by not overlaping at all. I can see the collider is accurately around the boxses, but still for some unknown reason the boxses overlap each other when colliding :frowning:

Is there some setting that allowes them to collide without the overlaping?

Thanks!

Add a mesh colider, and set it to convex!