No, it is objectively not true.
The referee does not decide in any semi-auto system when the ball is kicked. If they did, then it would not be a semi-automatic system. It requires no human input, in fact it is locked off from human input to keep it neutral (like Hawkeye systems). The only thing the referee decides is if a player is interfering with play.
The PL is going to be using the same system that the Champions League and Serie A have been using for the last year. The only difference is that there is no chip in the ball, the kick point is instead determined by high-frequency cameras and an AI system that calculate the balls change in inertia. It is roughly of equivalent accuracy.
It is also, for the record, the Premier League clubs themselves and not PGMOL that voted to delay the introduction of this system until they saw it working properly in other leagues.
I agree that referees are absolutely shit and VAR is all over the place, but some of the conspiracy theory nonsense on here is proper deep tin foil hat stuff (no offence
@TinFoilHat). Often based on pure lies.