In general, there is a subtle imperfection, but only compared to the mechanical precision of the other track. They're clearly not amateurs.
But yep, for the chorus the offset is definitely deliberate, since it's glaring and repeated every time.
Listening to the lyrics, they're clearly making a heartbeat :)
It's enough that a machine might snap it to the 16th rather than snapping to the beat. So yeah, maybe not the best example of natural imperfection.