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A while ago, I did some experimenting with the sync across the devices and the iOS and Android apps. The apps do a sync when they start plus a periodical one. You can also trigger a sync, but I think the iOS app won't do it if you try to frequently.
But you shouldn't need to do an explicit sync. Each time you open the book on a device, it should check the reading position. If it has changed, you will get prompted to accept the new position. The position gets updated to the server when you close the book, and, for the e-ink device, when the device goes to sleep. The iOS app seems to be the same. I don't know if the reading position is sent to the server at other times while reading, but it might do it at the start of each chapter.
If the reading position isn't updating, then check the time on the devices. If the time is wrong, there will be problems syncing.
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