nengi

I use phaser on client side, then matter.js for physics + nengi.js for networking (https://github.com/timetocode/nengi). I only have experience with 2d (so it might not be useful to you, but perhaps will others), where typically it's a worse experience for the player to have CSP (client side prediction) at-least in a fast paced game, as for example a player behind a wall can more clearly see something missed them, yet they still got hit. The way I do things (and I've seen is common across other "io" games), is "CSP" only for particular actions (such as your own rotation, or swinging your own weapon), but otherwise just let the client move in step with the server in terms of any physics entities etc.