If a Collider is modified while inside a Trigger that is being tracked by PolySpatial, it will cause a crash in RealityKit. A simple case is disabling / enabling a collider while it is overlapping a trigger. I have created a simple repro project, and reported it here: IN-61291
This could be the same issue some are seeing with UI overlapping world geometry.
Thanks for the repro case! Yes, this looks like the same issue/has the same fix as the UI collider crash. Although I don’t have any insight into why RealityKit is crashing, we only use RealityKit colliders for raycasting, and for that purpose they can all be triggers/static. Making that change fixes the crash and is likely to be generally more performant.