How to make hand weapon IK collision/retraction with obstacles like walls, cover etc. like RE2 Remake?

Hi, if anyone could help assist me in making a IK system like RE2 Remake and TLOU, whereby when a player character is aiming, the weapon that character is holding gets pulled back or lifted up when colliding with a wall or other physical obstacle. I do not want to make traditional cover. The target of the weapon(crosshair) and where the weapon is aiming is independent of each other. Therefore, even though a weapon appears to be blocked behind a wall, the player will still be able to shoot a target where the crosshair is, provided the crosshair also is not aiming at the wall. Thanks.