Isaac sim physical accuracy

I am curious of PhysX Physics Accuracy. Many comment online (especially earlier) says that PhysX is a game engine is optimized for speed not suitable for high fidelity physics simulation. In the same time, I am also hearing that Isaac Sim is moving into robotic field and increased physical accuracy and updating PhysX’s physic calculation datatype and solver.

I wonder what in detail is the improvement, what consideration should people have in mind after choosing PhysX as their simulator?