This is a really unique climbing game. I really like the mechanics, art, and the music. However, like others, the primary problem for me is the controls. Aside from collision detection and the dragging and rotation of the poles, i think the jump should be a bit higher and responsive. The player should be able to jump to the next platform when they are on the top of a climbing pole instead of falling downwards when jumping. Enabling vaulting after a jump could also be a nice addition.
I also want to give a few possible solutions for the collision problems. Are you by any chance using mesh colliders for all the platforms ? I think it would be better if you used the primitive shape colliders since most of the platforms fit into them. Also, have you turned on continuous collision detection ? It should help with the poles and player clipping through objects.
If you plan on updating this project, i'll be looking forward to playing it again with the improved controls. Like i said before, this is really unique and even with the control problems, it is still fun to play. Good job overall !