Rigidbody not affected by gravity

I have this character using a Capsule and a rigidbody with the gravity set to on and a AiPath and Seeker components attached to it.

When this character moves to a new destination gravity seems not to affect the character as it should, the character “floats” to its destination. This problem does not occur when using a CharacterController.
I woundn´t like to use a CharacterController becase when they collide with other moving entities they get on top of each other (as explained here (not my post): https://forum.unity.com/threads/change-the-layers-character-controller-can-step-up-onto-without-preventing-all-collisions.801084/ )

Is it possible for an agent to stick to the ground using just a rigidbody and a capsule collider?

I’m using the latest pro beta version.