With out of the box KiCad, I don’t think there is. The custom fields in the schematic are not held in pcbnew, so you would need a custom script to combine the POS output with the data from the schematic (or netlist).
That makes sense. The schematic and pcbnew programs seem to be living fairly independent lives, so to speak.
It seems feasible to get what I want by “joining” a BOM generated with one RefDes per record (line), with the .pos file using RefDes as the foreign key.
A pcbnew plugin which cross references the schematic, as you suggest, would achieve the same objective albeit better.
I wonder if anyone here can point me to any .pos generator plugins (than have to start from scratch, wary of the unbeaten path)