Physics gameplay - best practices?

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Hi all!
New user to PUN here. I'm working on a simple physics-based game, you can think of it as a Rocket League clone, and I'm interested in using PUN for networking. However, even trying the included "JumpAndRun" demo, it seems like physics can be pretty unreliable. It's pretty easy to make the two robots go through each other just running against each other. I can understand why this is tricky - so what's the recommendation?

I suppose one option is to go full server (or in this case, master client) authoritative - how could I go about that with PUN? Should I just have (non-master) clients send RPCs to the master, and have the master own all objects (so they eventually just get sync'd to the clients)? Is there a better way? Is PUN not the best solution for me?

Thanks much
--Steve