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This one is easy
You just record the position of the object from the last physics tick and raycast from that location towards the objects velocity direction and if the raycast hits a wall you just move the object back to the walls position.
You usually want to add an additional check like this to all fast moving objects.
There is a builtin option in Rigidbody and I think also KinematicBody called continuous collision detection or CCD. It is supposed to do this for you, and with engine code (so much faster because it's pure C++).
However I have read some posts here and there saying it doesn't work properly.
This is a big help and makes a lot of sense! Thanks! :D
If you don't do it like that, players will backwards long jump into a parallel universe