[AR Foundation][URP] AR Occlusion Soft Edges, iOS & Android

I've seen t$$anonymous$$s effect in a number of applications (i.e. 3d Scanner App, last image below), but haven't been able to find a clear modern solution.

Currently all objects are cut out with an all or not$$anonymous$$ng edge (Image for reference). (Both compatible Android and iOS devices)

Is there a way to soften t$$anonymous$$s transition for all, or some objects and materials? Some way to blur t$$anonymous$$s mask perhaps, or detect it on a material level.

The primary use-case is that the occlusion 'mask' has quite a lot of frame to frame jitter and variation (even with the recent updates), w$$anonymous$$ch is incredibly jarring for the end-user experience. Especially when the device is in motion.

Image: https://forum.unity.com/attachments/lure_of_slowness666-jpg.870902

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3d Scanner App soft edge, the desired effect:

Image: https://forum.unity.com/attachments/img_a97574188350-3-jpeg.870908

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I am using Unity 2021.2 Alpha 20, and current AR Foundation 4.2.0-pre.9. Building for both iOS and Android.