Not really. Like most words — even more so in French or other languages with fewer words — there is great nuance, which can also depend on the period of the word’s evolution through time.
Yes, it can mean boastful, but boastful itself is not susceptible of a single meaning:
*
The smug winner boasted of his or her virtue that caused success.*
The wooden sign boasted the wayside Inn.
The wary general noticed the heights boasted many cannon.
Vaunted can also mean prominent; or it can mean treasured, as in this webpage on The Villa Tiziana ( an hotel ) in Tuscany:
The charm of the hill overhanging the sea, a wonderful choreography that seems to have been designed by a romantic painter who traced an extremely intense painting, a treasure, vaunt of the Province of La Spezia, destination for tourists from all over the world
Or a truthful pride as in this by Richard Carew: *“The most Cornish gentlemen can better vaunt of their pedigree than their livelihood for that they derive from great antiquity, and I make question whether any shire in England of but equal quantitie can muster a like number of faire coate-armours”
Or, what I would most associate with the word is a wistfulremembrance of times past, the vaunted splendours of yesterday, *the spirit of the very famous words of Carew’s contemporary, the rascal judge * Sir Ranulph Crewe:
*Time hath his revolutions, and there must be an end to all temporal things, finus rerum. Where is Bohun, where’s Mowbray, where’s Mortimer? Nay, which is more and most of all, where is Plantagenet? They are entombed in the urns and sepulchres of mortality. And yet let the name and dignity of De Vere stand so long as it pleaseth God.’
** non-royalist.