Just for some clarity, there are two things here that people generally conflate.
ASR and ASLR. The HBSD site has a breakdown between the two: https://hardenedbsd.org/content/freebsd-and-hardenedbsd-feature-comparisons
Generally in most cases for a home user ASR is sufficient, which is why FreeBSD has not pulled in the ASLR mechanisms that HBSD has developed. HBSD takes a far more paranoid approach towards security than FreeBSD, sort of in the vein of how OpenBSD operates.
If you are in a situation where you specifically need the higher focus on security, you can compile the TrueOS tools into HardenedBSD, but you will have to do the heavy lifting yourself. It's not that difficult, but it'll take some time to compile/configure various things here and there. You could do the same on OpenBSD, but it'd require quite a bit more effort since it's not the same OS as FreeBSD.