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With wheel odometry, especially on the iRobot Create which is somewhat famous for having poor-quality odometry, I think that getting within 10 cm of the goal is about the best you can hope for. If you want greater accuracy you will need to use a more accurate localisation method, such as LiDAR-based localisation or an external localisation system using markers, and also improve the motion controller so it tries to get closer to the goal through such methods as slowing down significantly prior to the goal and wiggling towards it. Although there is a limit to how close you can get with the rough motors of a Create, it is capable of reasonable accuracy.