No. There are a few tools that claim to be able to do it, but my experience is that they are very VERY unreliable.
My advice is not to focus on your competitors. Look at what is working and not in your own campaigns and build on that to improve your ROAS. use everything as a beta fir its next iteration. Knowing that info about your competitors offers very little actionable insight. If you learnt they are sending less on the same keyword then you don’t gain the ability to improve. If you think this highlights relevancy optimisation, then I can tell you right now that you should be looking at that anyway regardless of what others are doing.