Yes, this form is for broaching an internal spline. The tip is the cutting edge. You could chamfer the tip a few degrees to create some clearance.
See this link for more information about Servo Splines
This is a "flat" spline (serration) but "involute" splines are also common. The root can be a flat or a filet. More spline info
Forget about the splines. Use aluminum. Bore or ream the hub for a tight slip fit on the servo shaft. Slit the hub and tap it for a pinch bolt that tightens the arm onto the servo output shaft.
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