I just got this trophy and platinum last night on patch 1.02 so I can confirm that this is working as of July 2020. The original glitch was reported to have been patched out and a debug mode solution exists, but I have recorded three (more or less) frame perfect methods to collect these orbs similar to Jak 2. You can find all the information in the description of my video as well.
All three methods involve pausing the game the frame before collecting the orb and restarting the Orb Hunt side-mission. Please note that hearing the collection sound does not guarantee that you succeeded in pulling the glitch off. One thing that I noticed is that if you pause correctly, the first time you move the pause menu selection you will NOT hear the sound play.
Method 1: This is based off of the method that I used for Jak 2 and involves jumping above orb and pausing in mid air right before collecting it, although the timing is a little bit earlier than Jak 2. I personally found this easiest with a double jump as Jak's body ends up stretching after performing one. Jak's feet will need to be pretty close to the orb.
Method 2: Get close to the orb and press O to do a spin attack but press pause the frame afterwards. In the video you will notice that Jak moves one frame as I pause it indicating the glitch was successful.
Method 3: You need to get close to the orb and then hold L2, release L2 and then pause the frame after. Quite similar to method 2, but perhaps slightly easier and you are letting go of a button and pushing a button rather than pushing two in quick succession.
I saw a lot of comments from people showing frustration regarding this trophy so I wanted to try and make it more accessible. I hope this helps, and if you have any feedback or comments please let me know.
Youtube Link: