Collision Detection for Kinematic Rigidbodies

For my 3d game, I don’t require any real physics within the game.
But my cube objects are moving and I require to detect their internal collisions.

As I understand, every moving collider object must require rigidbody within it. So I have attached my all moving cube objects kinematic rigidbody like this:

Now how to detect collision for two kinematic rigidbodies?

I don’t want to convert it to non-kinematic body otherwise physics started applying on them.

Asked and answered here:
https://forum.unity.com/threads/collision-detection-for-kinematic-rigidbodies.885778/

Also, see related answers Having a kinematic rigidbody detect collision with a collider without a rigidbody - Questions & Answers - Unity Discussions and Kinematic RigidBody does not collide with Wall using MovePosition - Questions & Answers - Unity Discussions .