Collision Position

Is there a way to get the world position of where an object collides with another object? Not the origin points, but where they first touch? And I’m not using rays, I just want the location where they touch.

As far as I can tell, you can’t directly get the collision point of two objects. But what you can do is shoot a ray from one object to the one it’s colliding with, then get the hitPosition of the ray. But that probably doesn’t work very well for most things.