Not really, simple pickups are possible to do well in 5 minutes or so. I just get bothered by the “simple” part of that, I want interactive held items that feel attached to you and that is a tougher cookie in UE4.
For basic pickups you have 4 easy to attain results:
Attaching without collision
Physics handle and accept the lag
Physics constraint and accept the lag
Forcing the object to follow the hand and accept that it will wobble.
For many, any one of those is probably fine, AltspaceVR uses the 2nd or 3rd for its vive tavern room and people seem happy enough with it. With the first you could treat it like melee combat systems others have made and run traces every frame along the length of the object to get collision and that would work somewhat too.