Tech:
Yes, no.

Steppers are not much different from servos.
The servos step up the "next" step magnetically before the rotor is there.
They anticipate the position of the rotor and tightly couple it to the angle of the rotor via the encoder.

And using the skewed rotors (afaik) +magnets they can keep this up indefinitely.

And can use very heavy currents temporarily, since the duration is so short.
Servos used to run 12 kHz, 0.1 ms each.

But servos have better magic steel and magic wire.
Very complex thing with magnetic flux rise time, decay time, heat losses, efficiency, mag. flux strength, inductance, reluctance, etc.
The servos have probably 1% difference in materials but might have 100x difference in terms of magnetic inductance/reluctance effects at very high speeds == 500 kHz - 4 Mhz of modern ac servos.