rb. MovePosition slowly enters another Collider

Hi! I am new in the Game Dev Community. I am building a little 3D Game where you control a character. He got a Collider, a Rigidbody and a simple rigidbody.MovePosition Script

I want the character to collide with some Objects and have physic applied on both but on some (like walls) i want the character to stand still.

thats the Script:

 using UnityEngine;

 public class PlayerManager : MonoBehaviour
 {

 Rigidbody Plyrb;

 Vector3 movement;

 public float moveSpeed;
 public float SprintMult;

 void Start()
 {
     Plyrb = gameObject.GetComponent<Rigidbody>();
 }

 void Update()
 {
     Movement();
 }    
 
 void FixedUpdate()
 {        
     //Slower diagonal speed
     if (movement.x > 0 && movement.z > 0)
     {
         movement /= 1.5f;
         Plyrb.MovePosition(Plyrb.position + (movement * moveSpeed * Time.fixedDeltaTime)); 
     }

     else
     {
         Plyrb.MovePosition(Plyrb.position + (movement * moveSpeed * Time.fixedDeltaTime));
     }       
 }

 public void Movement()
 {
     movement = new Vector3 (Input.GetAxisRaw("Horizontal"), 0, Input.GetAxisRaw("Vertical"));
 }         
     if (Input.GetKeyDown(KeyCode.LeftShift))
     {
         moveSpeed *= SprintMult;
     }

     if (Input.GetKeyUp(KeyCode.LeftShift))
     {
         moveSpeed /= SprintMult;
     }
 }

Now the main Problem: when the player hits another collider and I still press the Movement-Key, he starts entering it slowly, until it reaches the center of the other object. Then he gets fired out of the Collider.

If i reduce the speed it doesnt happen, but then i am way to slow to call it real movement. (for real its really slow)

I also tried using Continuous Collision Detection but it doesnt changed anything.

I also used the "DontGoThroughtThings" Script but it doesnt changed anything eather.

Making the Character kinematic makes him move throught stuff without slowly down and thats also not what i want.

Maybe someone knows whats up or got a other code that fits my needs. :D

Happy coding to all of you :D