Here's a workaround:
Instead of a Collider Tag, use a RBD and set the "Follow Position" & "Follow Rotation" to a very high value.
Select the points of the Cloth you want to "stick" to the Box
Use a connector Tag on the cloth, and use the selected points and a large Search Radius so the cloth can "find" the box.
Set the Connector Stretchiness to the highest value possible (infinity)
Animate the stretchiness from infinite to 1000 in a single keyframe and then slowly to 0 to avoid a sudden "twitch"
Done...
https://www.dropbox.com/scl/fi/2deejbr1q8gv1tvlkv95c/Sticking-Cloth-to-RBD-01A.c4d?rlkey=r0gzyury4rihr3h514ehhj88l&dl=0
