Definitely. I've maintained cylinder based animatronic systems (not for Disney), and it was a chore! I did the 'Dine with an Imagineer" thing last year on my WDW trip, and this was one of the questions I asked about the Country Bears (which were in refurb at the time). Though, the Imagineer I was dining with either didn't know (he was working on the New Fantasyland project), or didn't care to say. He did seem a bit taken aback by the question, but I doubt that many people are familiar with animatronics...
<shrug>
Servo's would make a heck of a lot of sense. And the upgrade expense could easily be spread figure by figure over a period of time, and maintenance is far cheaper and easier (lowering material and labor costs).
Not to mention, as you stated, the precision it grants for more fluid and expressive motions for the characters themselves.
No need to convince me! I'm already a fan. <grin>