@XenoRo When I mentioned a semi-fixed, what I meant was I had separated physics and other updates. Physics were fixed, but other updates were not. As a side note this was 2 years ago, and as I recall the time step was only part of the problem. The main issue was something I wasn't able to spot and had to do with how I was turning the object, sometimes it would spin incredibly fast and that was the "separate forcibly" part. They would casually drift closer like I expected but at 1000 rpm and when they touched they would act strangely. I figured it out right after attaching sprites.

This didn't fix the problem, and now I use a semi-fixed timestep instead. I managed to fix the problem by accident and still have no idea what was causing it but thanks!

Reading through the Box2D info, friction actually only applies to objects rubbing against each other, like a box against a platform on an incline would slip with low friction, but does not effect free floating objects. the function setLinearDamping(0f); slows the linear velocity in free floating space(space friction essentially?)

Right now the body has a Mass of 1, friction of 1, density of 1, restitution of 0. Everything in the game world is on the same scale(the HUD is on a different projection matrix)