No.
See RFC7482:
3.1. Lookup Path Segment Specification
A simple lookup to determine if an object exists (or not)
RDAP is JSON over HTTPS in a REST fashion. So you query for one "object", be it a domain, a host, a contact, or other things (RDAP is not only used for domain name registries but also IP ones).
There is search in RDAP (see section 3.2 in above RFC) and also various drafts about extensions (regular expressions, etc.) to be able to do a query that gets back potentially multiple results. However no registries in production enable that, and you can easily imagine that very few will, especially through public access.
Please note:
- you do not need to do your queries sequentially in case of large batches, you can use threads or multiple processes
- if you are not cautious (in limiting your requests) you will get at least rate limited if not completely banned for some time.