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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.
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.