While there is no built-in auto-synchronization of API Definitions, there is an Official DevOps Resource Kit that provides guidance on automating such a task. The recommendation is to have a set of ARM Templates for APIM that are maintained alongside the API Service code.
Another approach would be to leverage APIM's ARM REST API and implement a service that monitors the API Definition, updating the APIM API in an automated manner. The downside of this approach would be that policies, if any, would have to still be defined somewhere.