You can add new functionality by adding new endpoints without using HATEOAS too. The only difference is that it's documented out of band, which incidentally, is primarily a discovery-related concern.
Write the client to use new actions without needing an update? Impossible.
Output the list of available actions using <link rel="..."> rather than some domain-specific tag? What do I ever gain from this other than bloating my API and making it harder to read?