Most modern physics middleware are adding the option for continuous collision detection. CCD can help to avoid missing collision detection. It can be enabled either for all objects, or just for objects that are critical for the gameplay (player, player car, hand grenades).
Perhaps in your engine the mix of chosen stepsize, discrete collision detection, penetration depth recovery, maximum velocity, minimum object size just works fine.
What is the most advanced time of impact estimation method that are you using ?
POLL: what time of impact estimation method are you using ?
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