This problem had been solved earlier in the open source mapillary tools: Issues · mapillary/mapillary_tools · GitHub
No XMP required, there are various “subsecond” properties defined in EXIF
(and I even had a script to create this subsec tag heuristically from such a sequence, but it was in the general mapillary github issues, which unfortunately had been deleted or moved: Subsecond Workflow
but apparently this had been reinvented in mapillary tools recently)