Shadow artifacts

We sometimes have unwanted 'contact shadows' where 'pointy objects' meet the floor. For example in this shot at the bases of the legs of most of the furniture. We have tried everything we can think of, but the only way to get rid of these artifacts is to move the camera closer. The shadow seems to be always away from the camera (the position of the sun/hdri doesn't seem to influence it).

Is anyone else experiencing this? Is there anything that can be done to fix this?

Clemens Musterle do you perhaps have any insights?

Quote from renderchoice

i usually solve this problem by moving those objects(chairs, tables) SLIGHTLY about 2~5MM above.

Thanks for the tip. We tried moving it up but the issue remains. We'd need to move it so much that you'd immediately see they are floating.