We don’t have a built-in option for this.
One solution is to use a Custom Legend command for each legend entry. Then you could specify a color for the text individually. If you use the color tiles in the menu that are defined in the Style settings, you can keep the text and the command color coordinated.
Here is an example …
The color for the points and the color for the legend entry text are both set to the same color tile in the menu.
Then if you change the color in the style settings they will be coordinated.
If you have a more complicated example, this may not be a good solution.
Let us know if this helps or not.