This has been a problem with disk encryption since the dawn of time: there is no (at least AFAIK) scheme that allows efficiently hosting the MAC for an encrypted block in a way that meets various efficiency and robustness requirements.
Emulating an unencrypted disk means allowing updates at (traditionally) 512-byte sector granularity. Assuming we store a SHA256 MAC for the sector's ciphertext, for a 1TiB drive that means storing 64GiB of hashes.
In order to preserve alignment (required by various layers of the hardware and software stack), it's not possible to locate these hashes inline with the sectors they represent. In traditional media that meant adding an extra seek to every read or flush, or in other words at least halving the throughput of your drive.
This situation doesn't magically disappear with SSDs, the same performance problem just exhibits in a different way.
There's a bunch of other reasons full disk encryption isn't authenticated, but the above is a good starting point
edit: I have no idea how hardware disk encryption (e.g. TCG OPAL) functions, I guess it's at least vendor-dependent, but at least there is a possibility within traditional spinning rust drives to interleave authentication data more efficiently. In any case at that point, the attacker would need to physically disassemble the drive in order to perform an attack, so OPAL is probably a step up from plain software encryption if you're paranoid enough, yet somehow still trust your drive firmware