Yes the almanacs are extremely accurate and quite an achievement for people without telescopes. The did not know about Uranus or Pluto (Pluto anyway is not considered a planet anymore) but otherwise got the orbits right.Twenty yugas ago I worked on an app that calculated planetary positions, and we used to confirm it with (i think it was) the Lahiri Ayanamsa. Tonnes of scientific/mathematical calculations to get to the same numbers as they had.
As far as I can guess, if they've been calculating lunar and planetary positions correctly for centuries then they probably knew that the moon orbits the earth and that the earth orbits the Sun long before Europe knew about it. My guess.