How to get transform.Translate to work with rigidbodies

Ok so I am moving the player via transform.Translate for a third person platformer. And I have a rigidbody attached to the player only for the collisions, and add force.

When I use transform.Translate, the wall collisions are jittery. Which makes sense since transform.Translate doesn't respect the rigidbody physics.

So I tried to switch my movement to AddRelativeForce() but I was running into speed cap issues and most importantly, lots of sliding (which again, makes complete sense). And for a third person platformer slipperiness doesn't work well (unless you were on ice I guess).

I really like using transform.Translate for the precision, is there any way I could continue using it while keeping rigidbody physics intact? So far, I'm not seeing any other way to do it within the rigidbody physics :/

Thanks in advance! Actual code is appreciated!

Also here is the translate code:

 //adjust is a value that moves the player over slants and slopes
 //accel goes up to 20f
 //horizontal is the joystick input
 
 transform.Translate (new Vector3(0f,adjust,1f) * accel * horizontal * Time.deltaTime);