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Yes, we can't know exactly how a given word was pronounced before the era of sound recordings. However, there's more information on, for example, Ancient Greek, than you might at first guess. The Greeks sometimes wrote about their own language, especially comparing the way a word was pronounced in one dialect versus another.
Also, the words used in poetry have to rhyme and scan, which is how we know, for example, that Ancient Greek used morae rather than syllables and pitch accent rather than stress accent (like modern Japanese). Other languages, like Latin, borrowed Greek words, and spelled them in ways that reflected foreign sounds: and must have been pronounced different from native Latin and (that difference is that Greek theta, khi, and phi were aspirated stops, which Latin lacked).
A few more gaps can be filled in with comparative linguistics. The Proto-Indo-European language that Greek evolved from had "laryngeal" consonants (evidenced by Hittie <ḫ>) which in Ancient Greek are reflected in vowels attached to a "rough breathing" diacritic. From its description and comparison to related languages, (and the way Greek words were spelled in Latin) we can be confident that the "rough breathing" mark indicated an /h/ sound.
At this point I should pause for breath, and also say that my poem, although its spelling conventions make it look like Ancient Greek, is actually a language I invented. It's my attempt to reconstruct Ancient Thracian, a real language spoken north of Greece in classical antiquity, but very poorly attested. Only a handful of inscriptions have survived, and nobody is sure how to read them. My "reconstruction" of Thracian is almost entirely speculative.

I'd bet if you used a time machine, though, you'd find out your guesses were wrong :)
A good example is Hebrew and the letter (ayin) ע. No one really knows how this letter is pronounced. English speakers tend to treat it as a silent consonant that takes all of its sound from the vowel that follows it. People from other communities will give it a sound deep down the throat, expelling air out the center of the mouth... sort of like the sound that Darth Vader made when breathing. It's tough to do right, but I think that is more accurate than simply leaving it silent.
Michael Crichton in his book, Timeline, dealt with this problem of pronunciation by time traveling scholars who were trained in ancient languages, but had to adjust their pronunciation (and frankly, vocabulary) when confronted by people in 1357 who used several languages on a daily basis. I recall one character saying, "He speaks [Latin] like Cicero."
I think it is a problem that an author cannot completely resolve... unless the author has a time machine and listens carefully to how the people actually spoke.