Physics Conveyor is a professional modular physics based conveyor system that realistically moves rigidbodies along its surface in the way you would expect.
I had a lot of fun making this package for my own project, and thought it might be something that others would find useful too.
Find it on the Unity Asset Store: https://assetstore.unity.com/packages/tools/physics/physics-conveyor-138462
Physics Conveyor - Unity Asset Store Trailer