  Minimal Dark Matter models feature one neutral particle that serves as a
thermal relic dark matter candidate, as well as quasi-degenerate charged states
with TeV masses. When the charged states are produced at colliders, they can
decay into dark matter and a low-momentum (soft) charged particle, which is
challenging to reconstruct at hadron colliders. We demonstrate that a 3 TeV
Muon Collider is capable of detecting these soft tracks, enabling the discovery
of thermal Higgsinos and similar dark matter candidates which constitute highly
motivated scenarios for future collider searches.
