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First, your tags should be positioned in the /map frame. Then at least the current position should always match. Maybe that is what your were looking for.

For earlier positions this can also work, but gmapping does not only transform the map, but actually might update the whole map to a new (better matching) one that can be distorted from a previous map arbitrarily. Depending on how stable gmapping works in your environment, you might be out of luck for a simple solution.

In that case, you can either try to recognize the relative position in the map environment or you need to switch to something like graph mapping and attach your tags to nodes in the graph.