Move a camera with Rigidbody velocity without jitter

I want to create a camera than has a collider as well as a Rigidbody so that it has physics and can easily slide along walls. When I try to move the camera using “AddForce” or updating the velocity of the Rigidbody, it causes jitter. This happens whether I update the velocity in FixedUpdate, LateUpdate, or Update.

Is there another way to get a camera to move with physics without jitter? Updating the transform position is not a viable option since this can cause the camera to clip through geometry and get “stuck” on geometry and not smoothly move along it.

Maybe switching interpolation mode on the cameras rigidbody to interpoltion (or extrapolation) helps.
This techniques smooth the fixed update steps.
Also Updating a rigidbody in Update make no sense, because the rigidbody itself only updates in FixedUpdate.
158031-interpolation.png