Not really, you just need multiple antennas to form a phased array. Your home router probably already does this, referred to as beamforming.To make the charger efficient it might be possible to use a variable aperture directional antenna, like the ones used in for example military radars, to send a narrow beam directly at each device. But then the price of the charger would end up at several thousand USD...
You think that's good enough to hit a ½" target at 5 yds with a minimum of spillover?... you just need multiple antennas to form a phased array. ... referred to as beamforming.