Apparentyl not, you will need to be careful to see where do you position the via…
Take a look at this tutorial if you want nicer via stitching: https://forum.kicad.info/t/protip-nicer-via-stitching/1103/50
If you are in OpenGL modus (press the F11 key to select it), you are able to drag the via around if you have the “Add tracks and vias selected”