IK Animator + Compound Collider not working as expected...?

I’m trying to build a crane on top of a moving object. The base object has a Rigidbody set to Kinematic, and the arm is moved by a Chain IK Constrain with a Collider at the end of it, and the Animator Component is set to Animate Physics. Yet when I move the controller of the IK the collider at the tip doesn’t interact with other Rigidbodies, but when I move the base it does.

I’m not sure if this is expected behavior. But if it is, could someone tell me how can I achieve what I’m looking for? I tried a lot of different combinations and I haven’t found the solution to this.

Thank you

crane_rb