Better way to handle welds for a more immersive system?

Currently I am creating a Robot Sim based off the irl competitions called FIRST Robotics. I have a lot of progress but an issue I want to address and solve are the delays caused by handling a lot of the game mechanics on the server side. Here are some things I want to talk about:

Should I handle reducing input lag when controlling the movement by giving the controlling player Network ownership? Would this create visual lag for other players and is that trade-off worth it?

When picking rings up on the ground the game detects that the note has been picked up and welds it before the client sees the robot actually move to the rings position. Is there a way to reduce it? Can I maybe delay the weld for the time of the players ping?