Complete lighting bake issue

[Valentina]

I have an issue where in a scene with multiple objects, when i bake the full scene.. every object that touches another object is projecting their texture trough the object.
https://gyazo.com/22e3caffb276ce71f8079c5a19034467
Is there an easy way to avoid this? i've looked around and tried a lot already but i'm clueless atm.
i tried baking the object alone but then it loses the shadowcasting...
am i missing a step?