is there a way to move a rigidbody with something like moveposition without clipping through collider?

Sorry, MovePosition for a non-kinematic rigidbody is exactly the same as setting rigidbody.position, which ignores all colliders.

You don't want to use MovePosition every frame anyway, as your rigidbody would simply not react to any external forces.

You can code your own rudimentary MovePosition that still allows gravity, collisions and impacts:

 void MovePosition(Vector3 position)
 {
     Vector3 oldVel = rb.velocity;
     //Get the position offset
     Vector3 delta = position - rb.position;
     //Get the speed required to reach it next frame
     Vector3 vel = delta / Time.fixedDeltaTime;
 
     //If you still want gravity, you can do this
     vel.y = oldVel.y;
 
     //If you want your rigidbody to not stop easily when hit
     //This is however untested, and you should probably use a damper system instead, like using Smoothdamp but only keeping the velocity component
     vel.x = Mathf.Abs(oldVel.x) > Mathf.Abs(vel.x) ? oldVel.x : vel.x;
     vel.z = Mathf.Abs(oldVel.z) > Mathf.Abs(vel.z) ? oldVel.z : vel.z;
 
     rb.velocity = vel
 }

Or you can just use the CharacterController and the Move function