Rainbow Six Siege had this issue for quite awhile until they made limbs tuck in when next to an obstacle. I think it might be harder to fix everyone's posture since a few of them don't have the same hurtbox. A wall hug animation might work if they're standing still, but not so when moving or even approaching close to the obstacle since in this case they would still poke through until they're not moving. Collision physics on limbs might also work, but it would be jank if fighting from the side since their head and arms would be flopping around. If there was a way to cull rendering and portions of a hurtbox on meshes poking through, then that might work, though I don't know how feasible that is.
