Usually, no. Lightroom’s edits to RAW files are non-destructive metadata, so when you choose Edit in Photoshop it must first render a real image file (typically TIFF or PSD) for Photoshop to open. That exported file is what you see added to the catalog, and Lightroom cannot wait until later to decide whether to create it.

So in normal use, the only way to avoid that extra file is not to use Edit in Photoshop unless you want to continue in Photoshop.

One exception mentioned by users is a Camera Raw version mismatch between Lightroom and Photoshop. In that case Lightroom may create an extra copy because the RAW processing engines differ. If you saw a Camera Raw warning, updating so both use matching versions may help avoid unwanted leftovers in that specific situation.

But in general, Lightroom must create a rendered file before Photoshop can edit it, so there isn’t a setting to only add it after you save Photoshop changes.