Exploded bake procedures

Since the highpoly and low poly models intersect a lot at various spots, the best way to deal with this is by doing what is called an "Exploded Bake" to render out all of the ambient occlusion shadows and normals from the normal maps without overlapping.

Simply put, an exploded bake is just an "exploded" version of your model that all of the elements are spread out in the 3D space far away so no overlapping shadows show up on your texture maps