You can calculate it though. The complexity depends on what shapes you use. Of course an overlap seldom occurs at one spot unless they are just touching.
The simplest would be a circle circle collision. The collision normal would be the angle from circleA to circleB.
Normal_AtoB = angle(circleA.x,circleA.y,circleB.x,circleB.y)
Then the point on CircleA would be (CircleA.x+radiusA*cos(Normal_AtoB), CircleA.y+radiusA*sin(Normal_AtoB))
And the point on circleB would be (CircleB.x+radiusB*cos(Normal_AtoB+180), CircleB.y+radiusB*sin(Normal_AtoB+180))