UE3 used to have the same kind of Radiosity Normal Maps as Half Life 2, but it was before Lightmass GI so they were not utilized to their full potential. Another issue with Radiosity Normal Maps was that it used 3 lightmaps per surface (to store both color and intensity from 3 vectors) so the system was later replaced to save memory. 
I think it is difficult to achieve that look in UE4 without it.