Too long for a comment, and I don't have time to work out the kinks for a complete answer just now:
I've attempted to work through this by rewriting Jefimenko's equations as
$$
\mathbf{E}(\mathbf{r},t) = \frac{1}{4 \pi \epsilon_0} \int d^4x' \left\{ \rho(\mathbf{r}', t') \hat{\mathscr{r}}\left[ \frac{\delta'(t - t' - \mathscr{r}/c)}{c\mathscr{r}} + \frac{\delta(t - t' - \mathscr{r}/c)}{\mathscr{r}^2} \right] - \frac{\mathbf{J}(\mathbf{r}',t')}{c^2 \mathscr{r}} \delta'(t - t' - \mathscr{r}/c)\right\}
$$
$$
\mathbf{B}(\mathbf{r},t) = \frac{\mu_0}{4 \pi} \int d^4x' \left\{ (\mathbf{J}(\mathbf{r}', t') \times \hat{\mathscr{r}})\left[ \frac{\delta'(t - t' - \mathscr{r}/c)}{c\mathscr{r}} + \frac{\delta(t - t' - \mathscr{r}/c)}{\mathscr{r}^2} \right] \right\}
$$
where $\vec{\mathscr{r}} \equiv \mathbf{r} - \mathbf{r}'$, $\mathscr{r} \equiv |\vec{\mathscr{r}}|$, and $\hat{\mathscr{r}} \equiv \vec{\mathscr{r}}/\mathscr{r}$. Note that these integrals are over $\mathbf{r}'$ and $t'$. To see that this is the case, do the integrals over $t'$.1
It should then be possible to derive the Heaviside-Feynman formula by putting in the sources
$$
\rho(\mathbf{r}', t') = q \delta^3(\mathbf{r}'-\mathbf{w}(t')) \qquad \mathbf{J}(\mathbf{r}', t') = q \mathbf{v}(t') \delta^3(\mathbf{r}'-\mathbf{w}(t'))
$$
where $\mathbf{w}(t)$ is the trajectory of the particle and $\mathbf{v}(t)$ is its velocity, and then integrating over $\mathbf{r}'$ before integrating over $t'$. Doing this gives some expressions that are tantalizingly close to the Heaviside-Feynman formula, but there appear to be some stray terms as well. I suspect I've just been careless with my derivatives and/or signs; hopefully I will have some time in the coming days and be able to revisit this, straighten things out, and post a more complete answer.
1 True confession: I actually obtained these expressions by writing out the Lorenz-gauge potentials $\phi$ and $\mathbf{A}$ in terms of the retarded Green's function and the sources, and then explicitly differentiating those expressions with respect to $\mathbf{r}$ and $t$.