1. Create a new layer
2. Give this layer to your object
3. Create a second camera under the main camera and change these settings
   1. Clear Flags = Depth Only
   2. Culling Mask = Your Tag
   3. Depth = 1

You can remove the layer out of your main camera's culling mask but it will work either way.

recommended

How to stop sticking to walls and corners

Stop weapon clipping

A Simple Shooter