it's not "free", but there are frameworks that may help with that; e.g. Quarkus [1] provides a common EE/MicroProfile stack that does a lot of AoT codegen to get faster boot times and lower memory footprint; it is also compatible with GraalVM AoT, for even lower footprint and faster bootup. Compile times are still large, but you get the benefit of a familiar stack. Notice that, however, if your workload is throughput-intensive, you may still want to go with JVM mode (which is still pretty fast because of codegen)
(full disclosure: I work at Red Hat and I have contributed to the project)