Before 2022.1, it used to be that we would actually sync transforms every update in case any interpolated bodies were present in a scene. It was never the design choice, but more of a necessity, a limitation of the transform dispatch tech ~2017. It had (mostly unintended) side effect that any changes to transforms would actually get applied every Update, instead of being postponed to FixedUpdate.
I posted on the reasons why we thought appropriate to change this behaviour over here: https://blog.unity.com/engine-platform/expanding-the-robotics-toolbox-physics-changes-in-unity-20221. TLDR: performance.
Now, if you'd like to match the old behaviour for a legacy project, I'd propose calling Physics.SyncTransforms manually -- that will write poses to the physics engine as it used to do.