A geometric annotation feature is not in the current version of kicad but i think it is either in development or possibly even already in nightly.
I think there exists a script that can do this. My short search did however not bring up anything but maybe some other forum member remembers this script.
It has to be said that this won’t be in 5.1 series. 5.99 (nightly builds leading to 6.0) are more or less unstable and will be for a while, and even the file formats will change, so you may not want to use them for production work. But it’s possible, although not guaranteed, that you can open a design made in 5.1 with 5.99, reannotate/backannotate, save, make some changes manually with a text editor and continue with 5.1. In case you really want that feature. But it’s also possible that geographical annotation won’t be ready before the great schematic file format change, in which case that workflow won’t work at all.
We have geographic reannotation working inside Kicad as a pcbnew/tools menu item. Alexander changed his code a bit, which required me to update my code and sync it with the new Gitlab sources. I am almost done (literally working on it at the moment) and expect to push it to https://gitlab.com/BrianAtDocumentedDesigns/kicad/tree/reannotate within hours.
After which I expect to make a post on my blog and here asking for testers. I have tested the code extensively prior to making the changes but you never know.