Andre Conde Vazquez
Yes, it is ok if there is penetration. 
But in case that it is not possible to fix the faces with penetration, at least fix the gap at the other end.
I tried using "Pinball radius" which normally allows to create a contact between two surfaces that do not touch and keeps the relative distance between them. But in this case, when the bounded contact becomes alive the surfaces move to a co-planar situation.