Usually they do not grow out of it. Odds are the bottom and top will row at the same rate. I am sure some get better but I would not think it would get from bad to best with growth.
The slightly overbite dogs get the scissor action. The leverage is the base for hard mouth. The scissor action leads to the visual damage. Without the scissor action that same leveraged/hard mouth dog would then fall into the pressure biter category. The dog bites and bites and when it does finally draw blood it is from a swollen area and the blood, as the old folks say, 'is from the deep', damn near purple. Basically bruising from underneath first, internal bleeding then exposed to air later.
Undershot normally leaves the dog at a disadvantage from the leverage standpoint as well as the scissor action. EWO