So it seems like there is not a way to pull in the latest snapshot automatically. I wanted to have nicely modularized library projects but still actively develop them at the same time I was working on projects that depended on them.
I ended up creating a main project with its own build.gradle. I then added git submodules for my library projects.
This allows me to have separated library projects that I can reuse but also a fast development cycle as I don't have to wait for artifacts to get pushed to my artifactory server.
My Jenkins builds still pull artifacts from my artifactory server though.