In the sim settings you can try the "object polygon against cloth polygon" calculation.
Sometimes using more frames plus animating the figure can solve it. For instance in this case you could try tilting the character slightly forwards, at halfway the animation, and then returning it to it's end pose at the last frame.
You can attach primitives to hands and feet, and animate the size, so they disappear at the end of the sim.

Primitives are also very handy for sitting poses. If a woman with a skirt sits down, she alway does this thing with her hand, adjusting the skirt just before sitting down. So to make it look right we can mimic that in the sim using a cylinder.

@pardalegarderner. Delaunay tris are irregular tris, not the usual quads in half. There are not a lot of programs that create them. Marvelous Designer is one of them and I am seriously considering to get that for creating my dynamic clothes.