Ultimately, IMHO, yes. Just as Yahweh remained utterly faithful to Israel, despite her considerable lapses, so to I believe the Spirit will remain faithful to her holy people of God; and within that community, I accept the sacrament of orders as selecting the episcopal college for the charism of teaching.

That said, I think we have to distinguish three magisteria: bishops as a college, theologians as a college, and the people as a whole. Presently the three are obviously not in sync, and my money is on the bishops as the magisterium that our future will identify as having been in error about the big ticket items (women priests, married clergy, sexual ethics) that rile Catholics in western countries. 

It is critically important, IMHO, to know about the iconoclast controversy in this regard. Back then, at one point the majority of bishops in council were on what history established to have been the wrong side. The people disagreed, for the most part, and were proved correct.