This question appears to everyone who has just started studying Unity, but I will ask again. How to prevent incorrect physics miscalculation and falling off the map in a 2D platformer?

I have already tried some solutions and I managed to prevent penetration of the box collider wall (the level consists of tiles, the tile map have a composite collider). I have already changed Rigidbody Collision mode, changed Minimum Penetration, but now the character shakes a little when I start to push against the wall, using edge collider certainly improves the situation, but the character is still shaking. I will be glad of any help, maybe someone knows a simple solution to this problem (other than reducing the speed)