Just for prosperity if others come across this thread in the future, I finally got around to updating to RRF 3.4.x and the implemented change works great. I can now correctly define the servo with the needed PWM frequency like so:
M950 S0 C”duex.pwm5” Q333
And then move it with the servo commands like so:
M280 P0 S45 ; set servo position to 45 degrees
And it moves a sensible amount as expected.