A tRNA aminoacylation process in which asparaginyl-tRNAAsn is formed by a tRNA-dependent two-step pathway. In the first step a non-discriminating aspartyl-tRNA synthetase generates the misacylated L-aspartyl-tRNAAsn species, and in the second step it is amidated to the correctly charged L-asparaginyl-tRNAAsn by the heterotrimeric aspartyl-tRNAAsn amidotransferase.