Yes.
In the Riemann-Darboux context, a bounded function is integrable if it satisfies the Riemann criterion. There exists some partition (dissection) $P_\epsilon$ given any $\epsilon > 0$ such that the difference between the upper and lower sums is less than $\epsilon:$
$$U(P_\epsilon,f) - L(P_\epsilon,f) < \epsilon.$$
How the partition points are distributed is not relevant.
Thus, if the sequence as you define it, with or without uniformly spaced points, tends to $0$, then for any $\epsilon > 0$ there exists $N \in \mathbb{N}$ such that
$$S_{D_N} - s_{D_N} = U(D_N,f) - L(D_N,f) < \epsilon.$$
Then it can be shown that the lower and upper Darboux integrals are equal
$$ I = \sup_{P} L(P,f) = \inf_{P} U(P,f).$$
This is equivalent to there exists a number $I$ such that for any $\epsilon >0$ there exists a partition $P_\epsilon$ such that for any refinement $P$ ($P_\epsilon \subset P$) we have for any Riemann sum (regardless of the choice of intermediate points)
$$|I - S(P,f)| < \epsilon.$$
This is equivalent to there exists a number $I$ such that for any $\epsilon >0$ there exists $\delta > 0$ such that for any partition $P =(x_0,x_1, \ldots, x_n)$ with mesh less than $\delta$ ( $\max_{1 \leqslant i \leqslant n}(x_i - x_{i-1})< \delta )$we have for any Riemann sum (regardless of the choice of intermediate points)
$$|I - S(P,f)| < \epsilon.$$