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I expect when you say you're using ROS Service that you're calling it from the command line? If so then yes it will always be a little off.

You could write a ROS node that checks the rostopic /clock and if the time is right, calls the service get_model_state to get your model position. You have to enable use_sime_time when starting Gazebo though to make sure the clocks are synchronized ( The node can run as fast as you want so it will check the time every Gazebo iteration making it fast enough for your needs I expect. Good luck!