Bad sync performance in racing multipalyer (teleporting, lags, etc.)

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I basically got the SampleScene with the skycar from unity and wanted to add multiplayer into it. Overall this works fine with PUNFree, but either the cars are teleporting all the time or they are wrong positioned when I activate lerp. Further details can be found in the stackoverflow question since I can add images there. gamedev.stackexchange.com/questions/135792/how-to-tweak-multiplayer-sync-performance-with-pun

The syncing need to be as accurate as possible, since this will be a competitive game, so I did not want to use extrapolating, I hope I'm correct with this one.

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