Nice project @zsoltpeitler!
As suggested by @rszoeke that applying only rotation to the surface will solve this problem. But keep this thing in focus that a physical contact between two deforming surfaces is much harder to perform compared to one as rigid. I would like to suggest you two things in this case:
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Not related exactly to this problem but try to rotate your camshaft such that it is already in a position where it is just going to hit the follower. In this way you wouldn’t have to wait for the camshaft to hit the follower for long thus will save considerable simulation time. In this case you have to re-upload the CAD, duplicate your existing mesh and give a new CAD to it. Reassign entities and create a new mesh. Do the same for Simulation Setup.
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Once you have applied rotation only to the faces, give the penalty stiffness of more than 12k, make it 13 or 14k to resist as much penetration as possible. You can also try Augmented Lagrange but it is mostly unstable but if it works, it is way faster than penalty.
I hope this helps. GOOD LUCK!
Best,
Ahmed