I use zeplin for sharing screens and dimensions but have not used it for any kind of exports. I currently save all of our icons to dropbox and share the directory with the dev team.
After a quick test it looks like Zeplin’s SVG exports are pretty good, they do use SVGO which is key for creating svg’s for android. It seems like you could follow my same workflow but export the symbol layer, instead of the artboard. I feel like exporting from sketch is still easier, for bulk actions.