Do Dynamixel Servos give position feedback in velocity control mode?

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Some of these servos have as high as 4096 positions/revolution accuracy (0.088°). So I think if I command it to go to a particular position, say 100°, the actual position will be between 100.088° and 99.912.

But if the servo is in velocity control mode (continuous rotation) will I be able to get information on the position at some instance in time with the same +/- 0.088°? This is because I have to synchronize the positions with the frames published by a camera.

I would deeply appreciate it if someone with experience with these high-end servos can share their thoughts.