As the subject suggests, how do I detect this using the bounds box? Without having to get all objects and seeing if it’s position is inside of the objects position + extents ?
You could try this Unity - Scripting API: MonoBehaviour.OnControllerColliderHit(ControllerColliderHit)
I have tried that, but that is only when Rigid bodies collide that have character controllers. Either way, I tested it and nothing happened 
Done, I caved and just used a rigid.