This is a question I have yet to find a good answer for, and it is crucial for my project to continue. The forums seem like a nice place to get a deep discussion on the subject, so I will ask here in a very abstract manner.
What is a good way to get the ground normal a character is standing on?
Collision.contacts and contact.normal in the documentation. Also chech out RaycastHit.normal 
I know the functions themselves, but what eludes me is the art of using them properly. Collision normals are handy, but how to know which one? A straight raycast down is common, but how to account for steeper slopes without having the character detect ground he’s not colliding against?