Yes.
The most typical pattern we see for new customers is that they start with approval required. Then after an initial period, when the psychological effects on end users are clear and there is reassurance end users do not violate rules, they shift to auto-approval mode combined with reason requirement and Code of Conduct screen.
This is the point where the whole administrator access issue is truly solved, because now the system and administrator access rests with end users without any administration work on the server side.
You do not need to approve each time a user wants admin access. You can use a setting after sign-in to allow elevation without approval. In this case, you still get the benefits of auditing; who elevated, when, and an auditlog of installed software and executed applications.
In auto-approval mode, you can (and should) require the user to document a reason for administrator elevation, which you can later use to cross-reference actual activity. You can (and should) also enable the Code of Conduct message/screen that will appear just before the session starts. The Code of Conduct is a screen/message that is used to inform the end user of company policy and penalties for abusing administrator elevation.
Change this setting in the portal at Settings > [OS] Settings > Authorization > AUTHORIZATION.