Normally yes, whenever I went to board Secunderabad Shatabdi from Pune (at 5 am), Danapur Pune Express was standing at Platform#2 already, it's normally punctual.
Only in some instances 2 times I saw it coming late to Pune around 6:45 am and 6 am as I was waiting to board Deccan Queen (once in February) and Pragati Express (once in May).
Normally it's on time only.