I did! I actually wrote a couple of methods and tried them out (including V-clip, a patented algorithm). From what I recall, I ended up sticking with GJK becaus

I did! I actually wrote a couple of methods and tried them out (including V-clip, a patented algorithm). From what I recall, I ended up sticking with GJK because of how it interacted with EPA (which you need to figure out the actual result of the collision). It's been a few years though so it could have also just been a bad implementation on my part. That code lives in multiple shipped games though, which is cool!