Ooops sorry to get your hopes up, I need to rephrase my statements.
You can set them up one at a time only. You can program them as I/O in your application. Then when you want to reprogram the MCU via ISP, the protocol resets the robot and uses MISO and MOSI as specified in ISP programming. You can not however, program these pins as I/O then use them as MISO and MOSI at the same time.
ok so I can use those ports both for the programmer and servos without interference issues?
Actually, behind the scenes, the MCU is reset before programming. When the MCU is reset your application is not running so the ISP programmer/software can use the MOSI and MISO pins as expected.