So there is definitely some funny and undesirable behavior regarding collision shapes in 3D with rigid body and their interactions with slopes.
I am using a box shape collision for simplicity. When the box and slope are parallel to the same axis, the box can move up the slope with 0 friction. But if the slope is rotated, the box can't move up the slope due to the corner 'grinding' into the slope as it were, which seems to make sense.
Then I tried switching to the capsule since it has no corners, but the capsule can't get over the top edge of the slope.