Speaking broadly from my target experiance, and I am by no means a great shooter or "Snipa", but POI and POA are only identical at two points of a bullet arch. Everything inbetween requires some degree of calcuation for maximum precision.
The barrel of a gun is not straight, when zero'ed. If so the bullet would begin dropping as soon as it left the barrel and you'd be striking low at anything over 50 yards. You have to angle the barrel slightly up, hence, rising POI compared to POA the farther you move from the barrel. However, the bullet will eventually start to drop and eventually POI/POA will be the same again for a brief moment.
It's up to the shooter to know the bullet path and know at which point POI and POA are the same. Generally speaking, a 16" barreled XCR zero'ed at 50 yards will have identical POI and POA at 50 yards and 200 yards. You're going to have to compensate for shots inbetween.