Intermittent box-box contact with positive contact margin

### Intro

Hi!

I am a graduate student at HKU, I use MuJoCo for my research on robotic manipulation.

### My setup

MuJoCo 3.3.0, Python and C, Linux

### What's happening? What did you expect?

When setting box `geom` with positive margin (nativeccd on by default, multiccd off), the box-box contact becomes intermittent under certain settings. The model below is reduced from more legitimate use cases. In this simple setting, it is necessary to have `quat="1 0 1e-6 0"` or larger to avoid perfectly aligned boxes, to see the intermittent contact. When margin is set to zero, the behavior disappears.

### Steps for reproduction

- Setting the actuator to `1e-7` to make two geoms contact. Turn on the contact point/force rendering to visualize.

### Minimal model for reproduction

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### Code required for reproduction

### Confirmations

- [x] I searched the [latest documentation](https://mujoco.readthedocs.io/en/latest/overview.html) thoroughly before posting.
- [x] I searched previous [Issues](https://github.com/google-deepmind/mujoco/issues) and [Discussions](https://github.com/google-deepmind/mujoco/discussions), I am certain this has not been raised before.