Announcing BetterPhysics!
Selective Kinematics lets you use a layer-based matrix to selectively allow your dynamic Rigidbodies to be treated as kinematic from the perspective of some objects, while still being fully dynamic.
Speed Limits lets you enforce speed limits on your Rigidbodies while maintaining full control over them with AddForce and allowing full influence from outside forces and collisions.
https://assetstore.unity.com/packages/tools/physics/betterphysics-244370