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It's rare that an entire tree is static, often static frames are interspursed with dynamic frames so maintaining a separate API. If you know what you're looking for is entirely static you can always do things like setup the listener, query for the value and then shut it down, saving the resultant transform.

Another approach that is a little bit more dynamic would be to take advantage of the Transform server capability to remote query another node that's running a TransformListener already.