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Hi, you could for example give every intermediate value the value of the previous known value:
awk 'NR==FNR{if(!i)i=$1; while(i<=$1)A[i++]=$2;next} {print A[int($1+.5)]}' fileB.txt fileA.txt

It is because for some entries in fileA there is no match in fileB and then those lines do not get printed. If you would use:
awk 'NR==FNR{A[$1]=$2;next} {i=int($1+.5);print A[i]}' file2 file1Those...

You need to flip file1 and file2 around. try:
awk 'NR==FNR{A[$1]=$2;next} {i=int($1+.5)} i in A {print A[i]}' file2 file1