Is there a way to shorten the soft tissue going through the underarm to minimize scarring?

No, part of the lift is to remove the excess skin and that is where most of the scarring deals with in the lift. Internal lifting alone will not reduce your areolae or remove the sagging skin.

From the provided photos it appears you would benefit from a standard breast lift. This would raise the position of the nipple, remove excess skin and improve shape. This is not available laparoscopically. In addition skin excision is needed to improve shape. I encourage you to visit with a board certified plastic surgeon near you to learn more.

I am unaware of any procedure that can be done laparoscopically and internally that would lift the breast to a new position. Breast lifts are done because there is too much skin for the amount of breast tissue and the breast tissue is positioned incorrectly and too low. The breast lift repositions the nipple and to its correct position and tightens the skin around the breast tissue by removing some of it. The scarring can be very well hidden if done meticulously. Speak to your surgeon in great detail about this. Best wishes.