Can you paint a tile on sprite overlap? Unity

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Hi all I'm trying to make a game where I can drive around and as I pass over certain tiles in my tile-map they change colour, dead simple problem in my head. However not sure how to change the painted tile on overlap, my thinking was I could use sprite collision detection but when I put my sprites on the same z-axis height they overlay and are no longer visible. Is there something I have missed or a more efficient way of going about this?

Thanks :)

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