Stop rigidbody player from juddering when walking into a wall.

So, most people know this as an issue when working with a rigidbody player controller, when walking into a solid object the rigidbody will judder. I have tried using transform.Translate (), rigidbody.MovePosition () etc, and none have stopped this issue. I had in mind casting rays and stopping the player when a wall is in front but this fix quickly seemed as if it wasn't going to work as if there was a small bar or something not hit by a ray this would still happen. Is there anyway to work around this AND keep the rigidbody rather than use the character controller component?