I've been looking through the physics documentation for something similar to this method, or even a few functions that I could tie together to get the same result, but haven't come across anything yet.

Is this possible with the currently exposed interface?

EDIT 1:

Here's a link to the mentioned Unity methods documentation https://docs.unity3d.com/ScriptReference/Physics.ComputePenetration.html

EDIT 2:

So you can basically get the result I was looking for using the KinematicCollision returned from KinematicBody.move_and_collide with test_only=true. This worked pretty well for me, but it does involve creating a bunch of unnecessary nodes.

a year later