Rigidbody climbing stairs

Hello, I’m currently developing a First Person Game with my own Rigidbody First Person Controller, and I faced this problem, where player cannot climb the stairs up.
I’m controlling the player movement using rigidbody velocity.
I know that it is possible to make the player climbing the stairs up by not giving the physics (transform.Translate), but I do not prefer that method, since it can’t handle the fast movement (my game is fast paced).
I’ve also seen a video, with the colliders and triggers, and I do not want to do that either.

How about you replace the stairs collider with a sloped collider. That way you can climb the stairs, They still look like stairs and it should fell natural if you add in some camera movement with that.

For player movement up stairs I’d use this > Character Controller