Basically we can. Not everyone, but you can imagine someone that relied on it for their survival definitely could. In these races the horse gets to subtract hold time. Take a look at this interview for example where one of the racers explains this, and won over a horse by an hour and 15 minutes: https://www.irunfar.com/catching-up-with-nick-coury .
It's also covered in this very nice episode of Radio Lab: https://radiolab.org/episodes/man-against-horse