Let me first note that I am currently not a subscriber to the bot. I am interested in it but have a very simple question that I was not able to find an answer for:

I understand that bookmarks can be manual or automatically created but my question is instead of warping directly to the asteroid can the bot do the extra step of warping to a predefined 200km+ warp from the asteroids and then go to the asteroid of choice or is this not necessary or able to do so?

Yes, bot can rewarp to asteroids. This is a part of maneuvering. If bot sees asteroids in warp range and no more close asteroids it will use warp to approach asteroids faster. In case you have big asteroid belt, bot may rewarp from one edge of a belt to another during mining.