How to avoid character with kinematic rigidbody go into obstacles and not simulation physic?

I have an arcade car that moves around. it’s rotation is not realistic and can rotate any direction very fast. all gravity and rotation is under my control but since there is no rigidbody i can’t avoid going throw other static objects. i need a way to bring it out when it goes into other objects.

if i add a rigidbody and set ‘Use Gravity’ true then my car control system and physic simulation will mixed up and cause bad result.

how can i do this?

Have you tried going through the Unity car tutorial? It will teach you how to create a basic car game and probably get you started.