Short answer: No.
Long answer: First, understand that EFI does not boot "drives," except in certain limited senses or under limited circumstances. The most commonly-used boot entries revealed by efibootmgr are for EFI boot loader programs, which are stored as ordinary files on the ESP. This may seem like a subtle distinction, but trying to solve your problem without understanding it is likely to result in a buggy and/or limited solution.
Parsing the efibootmgr output is likely to be required to do what you want to do. This shouldn't really be very difficult; understanding a few common commands used in Bash scripts, like grep and cut, will take you a long way.
Alternatively, if your goal is to restore a boot order that's lost because of a buggy EFI, you might look into the fallback.efi program. AFAIK, it's not available in Ubuntu, but it comes with Fedora. This program will restore a set of NVRAM boot variables from a file if they're lost. It's intended to be placed in the EFI/BOOT directory and launched from Shim (which launches it automatically), so that the firmware's boot entries will be restored should they be lost. This approach has some problems, like cluttering the ESP with yet more files and creating new hoops through which you must jump if you want to change the boot entries, but it may be what you need.