That’s a really interesting question.
I can’t say with certainty — a quick look turned up no such thing — but even if one exists I’d probably recommend against using it. Finding out what taxonomies used to exist isn’t a very performant operation, and you have to register your taxonomies before every page load. So while it’d be convenient the first time, your server would see a big performance hit overall as a result.
This same basic reason is why I generally avoid any of the numerous taxonomy plugins that exist. Though the fetching of the data the plugin itself stores in the database is more performant that finding unknown old taxonomies in your database, it’s all still slower than something hard-coded into a PHP file like your custom plugin would be.