Client prediction errors when working with networked joints

Greetings.
I am currently facing an issue that I am unable to figure out how to solve, as I don’t have a lot of knowledge about how does network for ecs interact with physics, or how it should interact with joints, and I am asking for help in figuring out why the issue happens, and what could I do to fix it.
So:
I have a character, that is made out of several entities connected by PhysicsJoints.
Periodically, I’ll get weird physics joint mispredictions, regardless of ping.
Showcase:
ReconsiliationErrors
(At the start - prediction error while standing still.
Then when I start moving in a particular direction (by pushing off of ground with legs) - the character will just periodically slide, and then reconsile back into the correct position.)
On the server, when the player is standing still, the leg xz velocity is zero, but on the client, strangely, it is zero only after reconsiliation - afterwards it gets velocity:
ReconsiliationErrors5
(server on the left - client on the right)
The mispredictions happen regardless if the movement system is disabled or not:
ReconsiliationErrors2
(as you can see, I am standing still, yet joints still do funky stuff)
The mispredictions can happen with the movement system in the air:
ReconsiliationErrors3
(Legs should be rotated to be of the left-right sides of the camera. When they are rotating, they constantly reconsile)
I have had this problem for over 2 weeks now, and I feel like the issue lies somewhere on the surface, but I just can’t see it.
Network Settings:

public static class RateSettings
{
    public const int framerate = -1;
    public const int tickRate = 50;//same as fixed update in the settings Editor->Settings->Time->FixedUpdate
    public const int fixedRateRatio = 1;
    ...
}

Physics settings:


Relevant Code:
PhysicsJointComponents (I Modified base Physics package to be ghosted; will use GhostComponentVariation later instead):

    [GhostComponent]
    [GhostEnabledBit]
    public struct PhysicsJoint : IComponentData, IEnableableComponent
    {
        [GhostField(Quantization = 1000)]// did I understand this correctly - all float numbers inside the struct will be quantized by 1000? 
        public BodyFrame m_BodyAFromJoint;
        [GhostField(Quantization = 1000)]
        public BodyFrame m_BodyBFromJoint;
        [GhostField]
        public byte m_Version;
        [GhostField]
        public JointType m_JointType;
        [GhostField]
        public ConstraintBlock3 m_Constraints;
        
        ...
}

Everything on the character is a ghost:


Both bodyparts and joints have these ghost settings:

Thank you.