A disk drive is disclosed comprising a first disk surface and a second disk surface, wherein a first head is actuated radially over the first disk surface and a second head is actuated radially over the second disk surface. Each disk surface comprises a plurality of tracks, wherein each track comprises a plurality of data sectors for storing user data and N embedded servo sectors for storing servo data. The N embedded servo sectors on the tracks on the first disk surface are recorded at a physical angular offset from the N embedded servo sectors on the tracks on the second disk surface. While accessing a track on the first disk surface through the first head, the servo data on the first disk surface is read through the first head and the servo data on the second disk surface is read through the second head, thereby increasing the servo sample rate.