One solution I’ve found that works pretty well is to subdivide the collision mesh until the problem goes away. Modelling apps like Blender, Max and Maya all have this function. For example, here’s the process in Maya:
In the end, I used Blender to subdivide the mesh (I could do it manually in Clara.io, but that’s not a practical solution).
The only issue was the resulting mesh was scaled x 10, translated and some areas appeared too dark. I’m sure playing around I could get a better result, but for now it’s usable as a collider in PlayCanvas after a few dirty fixes with scaling, etc.