Servo builds droop pulses inside if it can't position the roter at the speed of incoming pulses. It consumes all the droop pulses and gives the exact position.
if you do not give it pulses too fast there will be no "droop pulses". It is common for servo design to feed the servo in acceleration and deceleration mode

Taking feedback and then generating the reverse pulses makes the system h/w complicated.
then make the software so that you have no "droop pulses".

Erik