Is it possible to do things like Client Side Prediction currently?

I've been off and on working on a learning project using some simple networking. When I started, and built some systems to handle sending input to the server and simulating those movements on the server, I researched and built systems to perform client side prediction to reduce input latency.

Then, I had to create a character controller using collision detection avoiding rigidbody movement because it was impossible to run physics simulations on rigid bodies on demand, as required when receiving resulting positions from the server.

That said, is this possible now? Can you step the physics simulation whenever you wish, running previous inputs in a single frame for reconsiliation? How is this accomplished using built in unity features?