It might not be that important to fully capture the autocorrelation structure within X.
Usually our models are doing something like "Y = f(X) + E" where E is some unknown random noise and f() is the relationship that we are trying to infer from the data. We usually take X as "given" or "known", so in that case we are looking at Y conditional on some specific value of X.
If we are just trying to make good predictions, then we don't necessarily care about the structure among the components of X unless that structure tells us something about how Y is affected by X.
Imagine the following "true" relationships in the data, where E and H are unmeasurable random noise:
Y(t) = b0 + b1 * X(t) + b2 * X(t-1) + E(t)
X(t) = c * X(t-1) + H(t)
Knowing b0, b1, and b2 is sufficient to predict "Y minus random noise". Knowing c doesn't help us at all.
If you're interested in obtaining good-quality estimates of b1 and b2, then you'll have a problem. That's because the direct effect of X(t-1) on Y is conflated with the indirect effect of X(t-1) on Y via X(t). But if you're just trying to make good predictions for Y, then you don't care as much about confidently distinguishing between b1 and b2.