There sure is no 100 percent accurate way to do it. You can use Skeleton > Mirror Joint but that only mirrors joints + IK Handles, no constraints or objects. It might be an opportunity for you to dig into some scripting work to make that happen. Again, there is no full-proof way of doing that, AFAIK. You can use scripting to do major bulk of work in modules, like building a stretchy leg or reverse foot etc. and then combine all the units together. I wouldn't call myself an expert when it comes to rigging in Maya but that is how I think it is done in most of the production work.
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