Would a servo be considered a digital version of a stepper which is analogue?
Kinda. a servo has a potentiometer inside which is able to keep track of where it is and also allows the user to tell it to stop at a certain degree. A stepper can do the same but it requires some math to figure out how many steps it takes and then convert that to a degree. Not all steppers are the same, some take bigger / smaller steps then others.
Also a big difference is what happens when you move a stepper. If you don't have anyway to keep track of its location(angle), it's going to get lost and it wont be able to correct itself. Whereas a servo being that it already has a way tracking its location, it can return back to a certain degree if it is ever moved.
Steppers allow for torque, but are not good at keeping track of where they are, and likewise for servos.