In the dependency free fork in MathExtensions/Ray.cs, the ray intersects method returns null in some situations where it shouldn't, which was causing faulty character and vehicle physics.
Upon investigating, it turns out there's a check where there is a minus symbol in front of 'boundingBox.Min.Z'. Removing the minus symbol fixes the issue :)
...
if (Math.Abs(Direction.Z) < Toolbox.Epsilon && (Position.Z < -boundingBox.Min.Z || Position.Z > boundingBox.Max.Z))
{ ...
Upon investigating, it turns out there's a check where there is a minus symbol in front of 'boundingBox.Min.Z'. Removing the minus symbol fixes the issue :)
...
if (Math.Abs(Direction.Z) < Toolbox.Epsilon && (Position.Z < -boundingBox.Min.Z || Position.Z > boundingBox.Max.Z))
{ ...