I was playing Banjo-Kazooie on Xbox One (Rare Replay) and I had just entered Mumbo's Mountain. I had received the Talon Trot move and went down to deal with Conga The Ape. I had stepped on an "orange stone" as he was throwing an orange, and I'm not sure what happened but the game crashed.
I'm not sure if anyone else had a similar experience or anyone could provide any reasoning to the glitch, but I don't believe it had anything to do with frame perfect collision.