Research has shown that talkers reliably coordinate the timing of articulator movements across variation in production rate and syllable stress, and that this precision of inter-articulator timing instantiates phonetic structure in the resulting acoustic signal. We here tested the hypothesis that immediate auditory feedback helps regulate that consistent articulatory timing control. Talkers with normal hearing recorded 480 /tV#Cat/ utterances using electromagnetic articulography, with alternative V (/ɑ/-/ɛ/) and C (/t/-/d/), across variation in production rate (fast-normal) and stress (first syllable stressed-unstressed). Utterances were split between two listening conditions: unmasked and masked. To quantify the effect of immediate auditory feedback on the coordination between the jaw and tongue-tip, the timing of tongue-tip raising onset for C, relative to the jaw opening-closing cycle for V, was obtained in each listening condition. Across both listening conditions, any manipulation that shortened the jaw opening-closing cycle reduced the latency of tongue-tip movement onset, relative to the onset of jaw opening. Moreover, tongue-tip latencies were strongly affiliated with utterance type. During auditory masking, however, tongue-tip latencies were less strongly affiliated with utterance type, demonstrating that talkers use afferent auditory signals in real-time to regulate the precision of inter-articulator timing in service to phonetic structure.