I've looked as best as I can to find an answer to this - but the only thing I have found closest to this was finding if a point was in a Region3, I've used this function I found:

local RotatedRegion3 = require(game.ReplicatedStorage.RotatedRegion3);

function isInRegion3(region, point)
    local relative = (point - region.CFrame.p) / region.Size
    return -0.5 <= relative.X and relative.X <= 0.5
       and -0.5 <= relative.Y and relative.Y <= 0.5
       and -0.5 <= relative.Z and relative.Z <= 0.5
end

local part = RotatedRegion3.new(workspace.Part1.CFrame, workspace.Part1.Size);

print(tostring(isInRegion3(part, workspace.Part2.Position)));

I was wondering if anyone knew how I could achieve this including the size of the (point) because it just thinks of it as a point with no size. Basically, wanting to get two large parts (5x5x5) for example to see if they are colliding without using actual parts. Thanks