We used the on-board Jaguar PID for position control for our shooter turret in 2012.
Don't know if that qualifies as "similar" to your swerve application, but I do have a working knowledge of the pitfalls of the Jag's PID (both position and velocity).
The bottom line is that we did get it working, although it wasn't pretty, and there was still a lot left to be desired. While we were able to get the turret to go to a commanded position effectively, I wouldn't say we had it "perfectly tuned," nor did our system have a lot of dynamic forces on it. The turret was pretty free-spinning, and remained that way throughout.
It was powered by a single RS550 through a planetary. I don't think we were close to hitting your 90 degrees in 60ms spec though. There is a 10-turn pot that you can see in the picture as well.
Here's a pic of the setup:
Here is our competition code for the turret on Google Code:
https://code.google.com/p/robotics61...ms/Turret.java
You can navigate through the source path section to find the PID constants we used as well.
Good luck!
If you have any other questions, post here, and I'll try and find time to share what I can.