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Natively, I'm afraid no, there is no way. I've managed to get a setup working using Spyder/Jupyter, but that's mostly for generating notebooks that are easy to read and that can provide an explanation of what's going on in a nice format. There's still some copy/paste going on to get the actual code into the robot through the LEGO Mindstorms app.
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However, if you are willing to go the extra mile, maybe you should look into Pybricks. Do be ware that support for the 51515 set is still in alpha stage, but I am sure it will get better relatively soon, since it is being actively developed. I haven't tried it out myself, but if you are fine with going out the vanilla configuration, this might be the way to go.
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