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Sselphs scraper doesn’t take much time:
https://github.com/RetroPie/RetroPie-Setup/wiki/scraper
But yes its possible. There is a downloaded images folder with all the images and gamelist.xml files for each system and then you can just copy them over the ones in /home/pi/.emulationstation I believe.
Might want to make a backup first just in case and also make sure emulationstation isn’t running otherwise it will overwrite your changes when you exit emulationstation.
If you need help setting up the pc see this video: