I just took a peek at your scene - if you change the scale of your solver node from:
Scale X 100
Scale Y 100
Scale Z 100
to
Scale X 10
Scale Y 10
Scale Z 10
It looks like it resolves your issue.
This is because the default setings make the assumption that the character being solved is approximately human scale - in your scene, your character is roughly 1 foot tall.
Alternatively, you could adjust all of the forces to compensate for the scale difference, but changing the scale of the solver is much easier to do π
if you still see some slight intersections in areas, you could always weaken the strength of the inner material map in those areas.