diff --git a/Code/Framework/AzFramework/AzFramework/Physics/Common/PhysicsSceneQueries.h b/Code/Framework/AzFramework/AzFramework/Physics/Common/PhysicsSceneQueries.h
index af1f5947a4..443315ce92 100644
--- a/Code/Framework/AzFramework/AzFramework/Physics/Common/PhysicsSceneQueries.h
+++ b/Code/Framework/AzFramework/AzFramework/Physics/Common/PhysicsSceneQueries.h
@@ -188,7 +188,7 @@ namespace AzPhysics
         AZ::Transform m_start = AZ::Transform::CreateIdentity(); //!< World space start position. Assumes only rotation + translation (no scaling).
         AZ::Vector3 m_direction = AZ::Vector3::CreateZero(); //!< World space direction (Should be normalized)
         AZStd::shared_ptr<Physics::ShapeConfiguration> m_shapeConfiguration; //!< Shape information.
-        SceneQuery::HitFlags m_hitFlags = SceneQuery::HitFlags::Default; //!< Query behavior flags
+        SceneQuery::HitFlags m_hitFlags = SceneQuery::HitFlags::Default | SceneQuery::HitFlags::MTD; //!< Query behavior flags. MTD Is On by default to correctly report objects that are initially in contact with the start pose.
         SceneQuery::FilterCallback m_filterCallback = nullptr; //!< Hit filtering function
         bool m_reportMultipleHits = false; //!< flag to have the cast stop after the first hit or return all hits along the query.
     };
diff --git a/Gems/PhysX/Code/Source/Common/PhysXSceneQueryHelpers.cpp b/Gems/PhysX/Code/Source/Common/PhysXSceneQueryHelpers.cpp
index 37e37d07e3..c157f14871 100644
--- a/Gems/PhysX/Code/Source/Common/PhysXSceneQueryHelpers.cpp
+++ b/Gems/PhysX/Code/Source/Common/PhysXSceneQueryHelpers.cpp
@@ -45,11 +45,17 @@ namespace PhysX
             hit.m_distance = pxHit.distance;
             hit.m_resultFlags |= AzPhysics::SceneQuery::ResultFlags::Distance;
 
-            hit.m_position = PxMathConvert(pxHit.position);
-            hit.m_resultFlags |= AzPhysics::SceneQuery::ResultFlags::Position;
+            if (pxHit.flags & physx::PxHitFlag::ePOSITION)
+            {
+                hit.m_position = PxMathConvert(pxHit.position);
+                hit.m_resultFlags |= AzPhysics::SceneQuery::ResultFlags::Position;
+            }
 
-            hit.m_normal = PxMathConvert(pxHit.normal);
-            hit.m_resultFlags |= AzPhysics::SceneQuery::ResultFlags::Normal;
+            if (pxHit.flags & physx::PxHitFlag::eNORMAL)
+            {
+                hit.m_normal = PxMathConvert(pxHit.normal);
+                hit.m_resultFlags |= AzPhysics::SceneQuery::ResultFlags::Normal;
+            }
 
             const ActorData* actorData = Utils::GetUserData(pxHit.actor);
             hit.m_bodyHandle = actorData->GetBodyHandle();
diff --git a/Gems/PhysX/Code/Source/Scene/PhysXScene.cpp b/Gems/PhysX/Code/Source/Scene/PhysXScene.cpp
index 6d3d7a2607..76d40ea5fb 100644
--- a/Gems/PhysX/Code/Source/Scene/PhysXScene.cpp
+++ b/Gems/PhysX/Code/Source/Scene/PhysXScene.cpp
@@ -334,6 +334,8 @@ namespace PhysX
             {
                 const physx::PxTransform pose = PxMathConvert(shapecastRequest->m_start);
                 const physx::PxVec3 dir = PxMathConvert(shapecastRequest->m_direction.GetNormalized());
+                AZ_Warning("PhysXScene", (static_cast<AZ::u16>(shapecastRequest->m_hitFlags & AzPhysics::SceneQuery::HitFlags::MTD) != 0),
+                    "Not having MTD set for shape scene queries may result in incorrect reporting of colliders that are in contact or intersect the initial pose of the sweep.");
                 const physx::PxHitFlags hitFlags = SceneQueryHelpers::GetPxHitFlags(shapecastRequest->m_hitFlags);
 
                 bool status = false;