Server-Side smooth movement

[jagged drum]

Hey, guys, I really need your help, I want to create server-side movement, so player couldn't cheat in any way.
I've created input manager with synchronization of player input.
So I made movement script, but it's working poorly cause player seems to lag only on self client-side(other players see it smooth).
I've tried to use Rigidbody Networking(Angular velocity only) + Rigidbody Lerp Networking(Works only if client have authority, which I don't want to), Transform Networking(Only rotation)

Is there any examples of server-side movement?
Maybe some input prediction and lag-compensation too?

Attached input manager code and movement code.

[jagged drum]

So, I almost solved this issue.
Using this approach:

Reliable Transform Networking for rotation only.
Rigidbody Networking for angular velocity.
Rigidbody Lerp Networking for velocity.

The last thing is... we should validate or sync position of player cause player can teleport or move freely.

I think it can be done by rewrite of Transform Networking position sync, but sync server position to client only when player velocity is zero(Player using some hacks to move character)