Have a collider spit out any intersecting colliders to the closest next to them where there is no collision

I'm moving around rigidbodies using rigidbody.movePosition. It all works fine, but at a higher speed I experience tunneling. While I've done quite a lot of research on this and there is little way to avoid it, I decided that tunneling is not the greatest threat. THe problem I'd like to resolve is this - if a mesh collider A intersects with another collider B, how to make B teleport colliders A to the nearest position where collider A would experience no collision? I hope I'm clear enough. Here is a visual representation of what I am after: