While this little line between the two objects might not seem like much in the sample, the scene I am working with has many objects and anytime there is such an edge, this happens. So the issue is very apparent. Tweaking the shadow bias only seems to make it worse with bigger values…making the values smaller doesn’t solve it. It seems to happen only on concave edges.
this is shadow bias, you can set it on the light. try extremely small negative (or maybe even positive) values: -0.00001 and go higher lower until it more or less fits. you may not eliminate gaps entirely in some cases.