triggers and going through objects

So I have an object moving down towards the ground object. I have a code that says when the object hits the ground, it triggers the ground tag and stops(OnTriggerEnter). Problem is the falling object sees the ground trigger a little late and by the time it stops it is half way into the ground. Is there a way to prevent this from happening or making it more accurate? Any help is greatly appreciated

You can do a sphere/capsule cast to check for the trigger to stop its movement early, or you can try non-trigger colliders with OnCollisionEnter.

You could also check the depth of the penetration (using Contacts and ContactPoints), get the normal of the collision and either move the object back above the ground or apply a force (which would give you a slight bounce effect).