No - whoops, sorry Karsten! - in my experience, anyway, it doesn't really matter. The Zoom will keep to its own internal clock, and so will the camera. As they'll both be pretty much rock-steady on their own internal timing, they shouldn't slip out of sync, even though they're not sync'ed to the
same clock rate or to each other. (..In the "good old days" external recorders, like a Nagra tape deck, had to be sync'ed to a crystal clock within whichever (film) camera you were using ..but that was in the days before digital recording..)
By the audio recording "frequency" you probably mean, say, 41.whatever KHz or 48KHz ..but that's just a "sampling rate" and has nothing to do with the internal timing clock of either of the devices. The internal clock in each should keep everything running smoothly.
I've no idea, of course,
exactly how accurate the frame-rate timing is in, say, mobile phone camcorders ..though I've shot a movie on a Sony-Ericsson phone, imported it into iMovie and it turned out really well ..all things considered!
So, no; no sync is necessary. Just let them both run at whatever internal clock rate they both have.
I record "wild" video audio - usually as a separate audio track for weddings, etc - onto Mini-Disc, Zoom..
..and Sony NT-1 digital tape..
..Sony DAT and all sorts of devices, never sync their "frequency" to anything at all, and it all syncs together perfectly in iMovie!