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The documentation basically just says that dynamic objects are lit automatically.... so I'm not sure really sure where to go from here. I found a github discussion on this very issue, but from what they say, the issue was already fixed...
As you can see here, its already a reported issue. https://github.com/godotengine/godot/issues/46332
For now, the best way to have shadows for dynamic objects in a fully baked environment is to use blob shadows. You can use a RayCast node + Sprite3D setup for this, a negative SpotLight3D pointing downwards or the DecalCo add-on for this purpose.