I've released the VRM Physics Enhancer blender add-on.

It creates additional colliders for the breasts, hands/arms and some long hair body piercing prevention scheme, and tags them to react with hair, compared to the standard VRoid Studio configuration.

This only supports VRM 1.0 models for now. The nice thing is that it can then be exported as a VRM again, letting you use the physics in software like Unity, VRChat, RPG Developer Bakin, etc, with the better physics.

More features might be added in the future, but it does the job of automating a tedious procedure.