Posted on 30 March 22 at 21:11, Edited on 13 July 22 at 06:17 by DarthVillainous
As of yesterday's patch, trophies finally, finally auto-pop - you just have to load the character who's earned it.
I don't know if trophies you earn on PS5 will auto-pop if you load up the game on PS4, however.
EDIT: So I finally looked into this, and it appears they do indeed. I got one of the Ascending Tide trophies on PS5, loaded up the game on PS4, and it popped a few seconds after I loaded the character.