IsOverlappingBehavior.cs

public class IsOverlappingBehavior : MonoBehavior
{
    public CapsuleCollider capsule;
    
    public bool IsOverlapping { get; private set; }
    
    private void Update()
    {
        IsOverlapping = false;
        
        // Converts the capsule into world-space parameters and calls
        // Physics.OverlapCapsule for you.
        var colliders = PhysicsExtensions.OverlapCapsule(capsule);
        foreach (var collider in colliders) {
            if (collider != capsule) {
                IsOverlapping = true;
                break;
            }
        }
    }
}