If you need just sharpen, you can sharpen in Resolve. That often helps slightly soft shots to at least match better (although you're not really making them any less soft, of course).
If you really need to try to get something that's out of focus into focus, there's software that attempts to do that, although it's fairly specialized, and my experience with it has been definitely mixed. Nuke X/Furnace has F_DeBlur, which is one of the more basic versions of that kind of thing, and it works to an extent, both for motion blur and out of focus. There are also others.