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Make parts of body mesh go through clothing mesh during simulation?

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I have a walk cycle set up on my model but when her hands pass her body they also affect the skirt she's wearing which messes the skirt physics up in ways that would be better if I just had her hands and lower arms pass through the mesh.

Is there any way to do that without separating and creating new arm and hand objects? I'd like to keep my model all as one object.

What I've done: delete all vertex groups attached to her fingers, hands, lower, and upper arms. Although this did help, it seems the skirt mesh still responds to her hands.

enter image description here

Edit: Pics of my cloth physics settings:

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