Yes. In Codex it is called 'Approve for me', in Claude it is 'Auto mode'.

I believe in both cases it is prompting a model with a fresh context that is tasked with reviewing the reason for the action.

With Claude, I have seen that if the reviewer does reject the proposed action, it responds with a long text about how the Agent should not try to work around this rejection, and instead prompt the user for an explicit approval of the proposed action.