'Favor a GameObject to show so there isn't collision glitches?'

How could I ‘Favor a GameObject to show so there isn’t collision glitches?’

Lowering the range between the near and far plane on the camera and having GameObjects not too far from the global zero coordinate to avoid floating precision stuttering. Also if you want to make sure the physics engine push meshes further apart you could make the collider slightly bigger than the rendered mesh to alleviate the problem.