No. That's like asking "Is there a way to cheat?"
Many items come with a "cost" to offset the benefit of having that item's properties.
If you don't like the cost, drop the item.
The cost is baked-into the item to balance the item's benefit. If you're going to ignore the baked-in cost, then why not just say that you can march around with three tower shields (one on each arm plus one strapped to your back) while wielding a two-handed greatsword...in each hand?
You see where ignoring baked-in costs can get you, and why they are baked-in, now?
Instead of trying to ditch the cost, look for a way to compensate, such as gaining the -1 back in some other real-world way.
What I mean by this is best explained by telling you that I am a RL heavy-weapons fighter, and I HAVE trained to use a spiked buckler while wielding a two-handed spear. The way you get past the -1 from having a hunk of wood strapped to your left arm is to TRAIN enough that your left arm gets stronger...and your spear skills also get sharper. Thus compensated, I went into (SCA Heavy) battle a better fighter with more tools.
There will be an in-game version of this, even if it means leveling to effectively get the -1 back.