I'm going to answer my own question since we just deployed them in production at a customer site.
Yes it works. It is still a bit unclear what combination of factors makes it work but it basically should boil down to 3 things.
LLDP should be enabled. We actually added...
lldp top-change-notify 1-28
lldp enable-notification 1-28
but I doubt those are necessary to make this work.
The vlan configuration should include the voice parameter as shown below.
vlan 100
name "Voice"
voice
exit
The vlan configuration should list the ports with phones as being tagged. This may include ports like those connecting another switch or router as well but for the ports with phones you would normally only have the data vlan untagged and the voice vlan tagged and no other vlans enabled.
vlan 100
tagged 1-18,20-21,23-24,27-28,Trk1
exit
I hope this helps anyone else that may run across this.