I've produced parts before only to discover that there's a collision (in a hard to notice place!) when a joint goes through it's normal range of motion.
In Fusion you'd literally need to see that one body was moving through another - and sometimes you do and sometimes you don't.
Suggestion: provide an automatic visualisation of such collisions. Since the collision overlap might be tiny, in addition to shading brightly the overlap area, it might make sense to offer some kind of starburst effect!
Thanks