There are some ways, but the way the game renders shadows just ends up creating some very ugly shadows regardless of settings. If you have a decent computer, you should try using an ENB config. Even if you're only using it for shadow detail and not any additional effects, it can make a huge difference. There are a huge number to choose from, so without knowing your specs, I can't really recommend one specifically, suffice it to say that I use
this one and the shadows look great (along with everything else). It's a bit out of date at this point because I haven't kept up with the game in the last few months, but it still looks pretty good. For reference, here are some shots I took which show off a bit of shadow detail.
Not perfect, but a pretty big improvement on the vanilla shadows.