This is true if you do need full client prediction (basically you need to put the physics collision code on the client and the server, doubling your code. Increasing complexity alot, etc etc. I would not recommend client prediction if you can get away without it.
I did manage to implement a pseudo client prediction system ontop of simethereals interpolation that ‘feels’ good when playing at decent lag levels. (less than 400ms of lag, less than 2-3 percent packet loss). Basically I decoupled position of the client spatial from the servers position, and then interpolate the spatial back to simethereals interpolated position every 10ms. This combined with some ‘dead reckoning’ style input ‘prediction’ changed my game from unplayable above 100ms to very playable and fun.
When things start to get up a bit in lag my tank starts to ‘slide’ a bit it feels floaty, a bit icy. The effect is actually quite nice I’ve found at reasonable lag levels.