Yes there is a (partial) way - via an up-to-date PStv (or another vita I guess).
I transfer the games/saves from my 3.18 vita to my PC (using QCMA) then transfer them to my PStv. Once you boot up the game on the PStv, (and maybe play the first level of the game) lots of trophies automatically register. But not all of them unfortunately
I had platinum'd Velocity2x but when I transferred to PStv I got maybe 50% of the trophies. I probably could have triggered more if I had played more levels but I didn't really care at that point