Detect collisions without messages?

Hello. Anyone have a method to detect collisions without using messages functions?

In other words, do something like:

 void Update()
 {
     this.Move(movement);
 
     if (rigidbody.enterCollision)
         this.Move(-movement);    
 }

Instead:

 void Update()
 {
     Move(movement);
 }
 
 void OnCollisionEnter(Collision collision)
 {
     Move(-movement);
 }

I know that Update has more calls per second that the physics engine, but, maybe exist a elegant solution for implement the first code. Cheers!

PD: Im testing this with a Pong remake, thus, CharacterController dont work for me because his collider isnt a box.