The CSPRNG has only made it practically impossible to predict future outputs from past outputs alone; however, if I can guess the seed, I can predict every output past, present, and future. CSPRNGs aren't magic and have to be used properly, and in any security-sensitive context, properly means with a truly random seed. The best CSPRNG in the world cannot create entropy out of thin air. It can, however, stretch a good source of entropy very far. There are cases when using a CSPRNG with a low-quality seed is appropriate, but the minimum acceptable entropy in the seed depends on the application, not on the RNG.
There are some cases in crypto where a secret that has even a single bit biased more than epsilon will break a whole scheme. CSPRNGs don't tend to work that way.
However, the quality of a modern CSPRNG doesn't save you from a low-entropy seed. A couple biased bits in a 128-bit seed may not be a serious issue (but why take the chance?!), however good entropy estimation is a difficult task which is best left to the operating system. Modern operating systems will ingest sources of hardware randomness and seed their system-level CSPRNGs, which should then be used directly by application software (for key material) or as seeds to local CSPRNGs (for less security-sensitive but more performance-sensitive needs). Do not play around with seed entropy just to be clever.
In the absence of a full-fledged operating system, then things like high-precision boot timers can be used for seeds, but only because there's nothing better available. The lack of good randomness is a real problem in resource-constrained environments, though usually there are easier-to-exploit vulnerabilities that get hit first.