The problem I’ve been having:
The solution I’ve found is to increase the Safe Margin on the KinematicBody2D.
With this description I think I found it:
Extra margin used for collision recovery in motion functions (see move_and_collide(), move_and_slide(), move_and_slide_with_snap()).
If the body is at least this close to another body, it will consider them to be colliding and will be pushed away before performing the actual motion.
A higher value means it’s more flexible for detecting collision, which helps with consistently detecting walls and floors.
https://docs.godotengine.org/en/stable/classes/class_kinematicbody2d.html?highlight=safe_margin#class-kinematicbody2d-property-collision-safe-margin