The CH-47's rotors are interleaving in planform, but they have a fair amount of vertical offset with the rear rotor plane being higher.
The rotor center of rotation is at a higher waterline, but the disc declination puts them at interference. In the -47 the rotors intermesh at any Nr > 0 where CF stiffening and flapping/coning is in effect. So basically, all the time.
A functioning synchronization shaft between the 2 rotors is absolutely essential, or the aircraft will instantly self destruct, (see:
Mannheim 1982)