Hi Manoj, welcome to the Duo Community, and thanks for sharing your question here!
While there is not currently a mechanism for this, there are a few things you could consider. Multifactor authentication will always add a small delay in the authentication process, as it is an extra step in the process. However, WebAuthn authenticators like Yubikeys or other platform biometric authenticators such as Face ID or Touch ID might be right for you, as they add less “friction” and tend to be faster than more traditional authenticators like mobile apps or hardware tokens. We’re also looking at ways to reduce the number of prompts end-users receive, though it’s not something available immediately to you today.
In your particular case though, you could look at building your own OTP software token and feeding the OTP codes into your automation as they change. I hope that helps!