The only way that I found at this moment it to create a small script in python, maybe this could migrate into a plugin but I have no experience in that.
Is a really basic code, selecting the right composer and maps:
from qgis.core import *
from qgis.utils import *
composerList = iface.activeComposers()
comp = composerList[4]
maps = comp.composition().composerMapItems()
masterMap = maps[0]
slave1 = maps[1]
slave2 = maps[4]
slave1.setNewExtent(masterMap.extent())
slave2.setNewExtent(masterMap.extent())
Other option would be maintaining the initial scale in slave maps to set after the new extent if maps have different shapes, but in my personal case with this code was enough:

I'm open for improve this solution (I almost have no experience with PyQGIS
).
Dealing with different extents and scales
The code above works great with the same extent (and consequently, shape) and scale. Now I have a code improved tested with differents extents, shapes and scales:
from qgis.core import *
from qgis.utils import *
composerList = iface.activeComposers()
comp = composerList[0]
maps = comp.composition().composerMapItems()
masterMap = maps[2]
slave1 = maps[1]
slave2 = maps[0]
centroid = masterMap.extent().center()
diffx1 = slave1.extent().xMaximum() - slave1.extent().xMinimum()
diffy1 = slave1.extent().yMaximum() - slave1.extent().yMinimum()
diffx2 = slave2.extent().xMaximum() - slave2.extent().xMinimum()
diffy2 = slave2.extent().yMaximum() - slave2.extent().yMinimum()
newExtent1 = QgsRectangle(centroid[0]-(diffx1/2),centroid[1]-(diffy1/2),centroid[0]+(diffx1/2),centroid[1]+(diffy1/2))
newExtent2 = QgsRectangle(centroid[0]-(diffx2/2),centroid[1]-(diffy2/2),centroid[0]+(diffx2/2),centroid[1]+(diffy2/2))
slave1.setNewExtent(newExtent1)
slave2.setNewExtent(newExtent2)
And the resulting test:
