No. There is no way to push a value for the symmetric key that probably makes the FIDO (thus U2F / WebAuthn) feature work. You can tell the Yubikey to pick a random new one, effectively wiping your key (and rendering any credentials previously minted with it now invalid) but you can't write one over USB and this was I believe intentional.
Solokeys (https://solokeys.com/ - v1, don't think the newer v2 does) have a special firmware version that implements this and allows you to use a custom seed - and as such restore a key from it. It only works on non-resident credentials (most commonly used, as the number of RKs is usually very limited) though.
The firmware is here https://github.com/conorpp/solo-dicekeys/releases/tag/5.0.0
But it's also shipped in the keys dicekeys sells and I think only their app implements the client side of seeding anyway: https://www.crowdsupply.com/dicekeys/dicekeys