How to grab on Hover

Hello, I am trying to create a buttonless grab where the player will automatically pick an object up once their hand touches an object. in the XR Controller script I see the select usage option only has buttons to choose from in its dropdown menu.

Is it possible to have an object picked up when the hand hovers near it?

Maybe using a Direct Interactor with a sufficiently sized collider, or using the “Hover To Select” setting on the Ray Interactor?