player enters in the gameObjects and get pushed

I'm having some problems with my game:

• 1st- The player slightly enters inside others objects: https://youtu.be/yLlbnRivpME

• 2nd- When the player pushes a box towards a wall and stop pushing, he receives an opposite force that only stops when the player hits another object. (in the video you can see me trying to go forwards but always getting pushed away.) https://youtu.be/jOuKTFYy3Gs

• 3rd- When the players is pulling a box and touches a wall, the box receives an opposite force. https://youtu.be/p6BtOvL-eTI

Player controller script:

 using System.Collections;
 using System.Collections.Generic;
 using UnityEngine;
 
 [RequireComponent(typeof(Rigidbody))]
 
 public class PlayerController : MonoBehaviour
 {
     Rigidbody rb;
     public GameObject player;
     private GameObject box;
 
     public float speed = 5f;
     public float impulseY = 5f;
     public float x, y, z;
 
     public bool isPushing = false;
   
 
     void Start()
     {
         rb = GetComponent<Rigidbody>();
     }
 
     void FixedUpdate()
     {     
         if (Input.GetKey(KeyCode.D))
         {
             if (isPushing == false)
             {
                 player.transform.rotation = Quaternion.Euler(0, 0, 0);
                 transform.Translate(Vector3.right * speed * Time.deltaTime);
                 x = 1;
             }
             else
             {
                 if (player.transform.rotation == Quaternion.Euler(0, 0, 0))
                 {
                     transform.Translate(Vector3.right * speed * Time.deltaTime);
                 }
                 else
                 {
                     transform.Translate(Vector3.left * speed * Time.deltaTime);
                 }           
             }
         }
 
         if(Input.GetKey(KeyCode.A))
         {
             if(isPushing == false)
             {
                 player.transform.rotation = Quaternion.Euler(0, 180, 0);
                 transform.Translate(Vector3.right * speed * Time.deltaTime);
                 x = -1;
             }
             else
             {
                 if(player.transform.rotation == Quaternion.Euler(0, 180, 0))
                 {
                     transform.Translate(Vector3.right * speed * Time.deltaTime);
                 }
                 else
                 {
                     transform.Translate(Vector3.left * speed * Time.deltaTime);
                 }
             }
         }    
     }
 
     void Update()
     {
         //groundcheck
         Debug.DrawRay(player.transform.position + new Vector3(-0.2f, 0, 0), new Vector3(0, -1, 0), Color.red);
         Debug.DrawRay(player.transform.position, new Vector3(0, -1, 0), Color.red);
         Debug.DrawRay(player.transform.position + new Vector3(+0.2f, 0, 0), new Vector3(0, -1, 0), Color.red);
 
         //pushableCheck
         Debug.DrawRay(player.transform.position, new Vector3(x, y, z), Color.red);
         
 
         if (Input.GetKeyDown("space") && GroundCheck() && isPushing == false)
         {
             rb.AddForce(new Vector3(0, impulseY, 0), ForceMode.Impulse);
         }
 
         if (Input.GetKeyDown(KeyCode.LeftShift) && PushableObject() && GroundCheck())
         {
             box.GetComponent<Rigidbody>().isKinematic = false;
             box.gameObject.transform.parent = player.transform;
             isPushing = true;
            
         }
 
         if ((Input.GetKeyUp(KeyCode.LeftShift) && isPushing) || (isPushing && !PushableObject()))
         {
 
             if (!BoxGroundCheck(box))
             {
                 box.gameObject.transform.parent = null;
                 StartCoroutine("KeepNotKinematic");
             }
             else
             {
                 box.GetComponent<Rigidbody>().isKinematic = true;
                 box.gameObject.transform.parent = null;
             }
             isPushing = false;
         }
     }
 
     bool GroundCheck()
     {
         RaycastHit hit;
         float distance = 0.5f;
         Vector3 dir = new Vector3(0, -1);
         bool isGrounded;
        
         if(Physics.Raycast(player.transform.position, dir, out hit, distance) || Physics.Raycast(player.transform.position + new Vector3(-0.2f, 0, 0), dir, out hit, distance) || Physics.Raycast(player.transform.position + new Vector3(+0.2f, 0, 0), dir, out hit, distance))
         {
             isGrounded = true;
         }
         else
         {
             isGrounded = false;
         }
 
         return isGrounded;
     }
 
     bool BoxGroundCheck(GameObject bx)
     {
         RaycastHit hit;
         float distance = 0.5f;
         Vector3 dir = new Vector3(0, -1);
         bool isGrounded;
 
         if (Physics.Raycast(bx.transform.position, dir, out hit, distance) || Physics.Raycast(bx.transform.position + new Vector3(-0.2f, 0, 0), dir, out hit, distance) || Physics.Raycast(bx.transform.position + new Vector3(+0.2f, 0, 0), dir, out hit, distance))
         {
             isGrounded = true;
         }
         else
         {
             isGrounded = false;
         }
 
         return isGrounded;
     }
 
     bool PushableObject()
     {
         RaycastHit hit;
         float distance = 1f;
         bool isPushable;
 
         if (Physics.Raycast(player.transform.position, new Vector3(x, y, z), out hit, distance))
         {
             if (hit.collider.gameObject.tag == "Box")
             {
                 isPushable = true;
                 box = hit.collider.gameObject;
             }
             else
             {
                 isPushable = false;
             }
         }
         else
         {
             isPushable = false;
         }
 
         return isPushable;
     }
 
     IEnumerator KeepNotKinematic()
     {
         while(!BoxGroundCheck(box))
         {
             box.GetComponent<Rigidbody>().isKinematic = false;
             BoxGroundCheck(box);
             yield return null;
         }
     }
 }
     

Every gameObject has attached this: