It's fine. What I normally do is pull the control line down to ground and use the pins in push-pull (normal) mode. Your setup is useful if you want to operate in open drain mode to generate a 5V signal. In practice, I've never seen a servo that minds feeding off of a 3.3V control signal. Pulling the control line one way or another also serves the purpose of asserting a known state on the pin when the IOIO floats the pin, e.g. when your app is not running. Otherwise the servo may twitch.
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