It's been studied. For example, Canada measured drivers' reaction times to unexpected events and found between 1 and up to 5 seconds, with an average of about 2.5. That's not fast enough to be the primary way we do anything.

You can do the trick where somebody drops a measuring stick and measure your reaction time. If you're in a fight with somebody that knows what you're going to do before you do it then 0.2s is nowhere near fast enough.

But it's also common sense; if you can predict what your adversary is going to do and they can't predict then you obviously have a massive advantage. So if we're not built for that then the only reason that would be is because evolution couldn't make it happen. Evolution put a monkey on a rocket so probably figured that one out.

The only thing that's subjective here is how much of our brain is devoted to prediction, but I qualified that as obviously my opinion.