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Yes, absolutely. You can catch a baseball because your brain predicts where it will go before your eyes see its actual movement. This may be a good place to start learning more: https://en.wikipedia.org/wiki/Direct_and_indirect_realism

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Another fun example of how your brain predicts physics stuff is when you misjudge what something weighs. For example, if you subconsciously judge a glass is full of water but it's actually empty, as you try to lift it your arm will fly up awkwardly. This all happens without conscious thought.

Don't tell me it never happened to you!

I knocked myself over once by lifting a solid double-corrugated cardboard box that I thought had a mini-lathe in it- I got ready to lift with both legs and promptly threw the box into my face and fell over.

That was one of the weirdest experiences I think I've had.

Also when you think there's a step, and there isn't one.

How is that "not a physics engine"?

It's more general than a physics engine in that it's predicting an expected outcome...it just so happens that the outcome here is largely dictated by physics. (At some level they all are but some more obviously than others)

It's ridiculously bad at modelling quickly rotating objects.

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