Soo lots of comments here.
In general its safe to assume that rudimentary physics use is going to expand over time, the main reason I went with Physijs, it handles all of my needs so far.
Really it’s no issue to make position/rotation etc changes, Physijs allows for movement impulse forces etc, manually changing the actual values simply requires you to set dirty flags, not a real issue to me.
Physijs uses ammo (I think) I got an improved version from err whitehorse/whitestone framework??
Stuffs only outdated when it doesn’t do what you want 
Oimo seems cool, have fun finding user doc. I have looked at it code and its nothing like I write, not judging just different. Without user doc determining from code is an issue for me.
Physijs worker performance is not an issue at the moment. My current setup has multiple animated gltf models, moving with a steering behavior system, shooting balls, with particle explosions, etc. I run at 60 fps render and physics. I limit myself to going no faster at the moment. Some physics lets the system move shapes and some I manually adjust, realtime.