how to prevent a kinematic rigidbody from going through static colliders

I am currently making a character controller,

i have made one really good one using the default character controller (slope and slide and whatnot) however i found out i cant rotate the default collider that comes with the character controller, therefore thats a no go.

next i tried to make a rigidbody controller, which so far is coming out super nice however im now onto the part where i need to stop it from going through colliders, i know that kinematic rigidbodies cant do this because they dont 'detect' collisions the same way but i've seen ways to code it into the controller using raycast and what not

my question is how would i go about this? i have decent knowledge in physics but im not really sure how to implement this.

at first i thought send a ray cast in direction im moving/trying to move in and if there is a object, stop the player but what if lets say im not directly going into the wall and instead hitting it at an angle?

any help would be greatly appreciated!!

on another note, would it be possible to have a normal rigidbody with its collisions but instead still control it using movePosition?