Physics.Raycast does not hit object with navmesh agent and collider

URP 2022.3.8f1

As title says when you have a Navmesh agent with a collider and a rigid body, Physics.Raycast goes right though it.

Once the navmesh agent is disabled, the raycast works as expected.

If you are not supposed to to have all these components together, then why does the AI Controller standard asset require them?

?? mine dont…

Changing the rigidbody detection to continuous fixes the issue, the issue occurs when the rigidbody is set to discrete.

Mine are discrete…

Heres my setup that does not work with physics.Raycast()
Changing this setup to continuous from discrete causes my raycasts to work.
Maybe its something Im doing, not sure, but probably someone will run into this in the future and be able to fix it this way.