Is there a way to detect if a point in the world is currently been occupied by a part(s) ?

So basically I have an attachment in the game that shows the firing point of my gun... However, when the gun's firing point is in a wall/anything other than air then the bullet goes to a weird direction... SO I need to check if the firing point is currently in a part so that I can ignore the part so that the bullet goes in a normal direction... I've thought of doing a Region3 thing and then using FindPartsInRegion3() and if I just do a very small region around the firing point then it might work, but I think there's a better way to do this. And then I came to ask myself if there was possibly a way of listing all the parts that occupies a specific point in the world... I've search in the internet but nothing really helped me.