Most all poses(animations) will need to be adjusted from time to time. Clothing and Hair will react to the Collision-Shapes when they are turn on but Body-Parts will collide with Body-Parts.
To adjust body-parts open the Avatar's... Modify/Animation/Edit Motion Layer tool and tweak the colliding part. Depending on the animation file used, if any, adjustments may need to be made multiple times during an avatar's animation.

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