This video demonstrates how to convert from a rigid body to a character controller to be able to walk up and down stairs and slopes. A character controller is always very specific to the game you're making, I've had to make some tweaks for it to play nice with animation rigging. I hope this gives you inspiration to customise it further for your needs.
► Previous video: https://youtu.be/QCi2GOyHIIk (Weapon Reloading)
Links:
https://docs.unity3d.com/ScriptReference/MonoBehaviour.OnControllerColliderHit.html
https://github.com/Unity-Technologies/Standard-Assets-Characters
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