If it is a problem, a finite state machine approach could be used. It might take a bit of juggling between the rate at which the machine is run and the angle each step would take.
I think a high enough frame rate and clever accumulation of the sweep angle could make some smooth movement poss.
I got some hits googling
servo speed control state machine arduino
but found nothing that didn’t use delay and incur the penalty for doing.
So make history!
a7