No, and you really don't want that sort of micromanagement with larger bases with 1000s of bots.
The micromanagement isnt the problem, at least for me

If you have inactive bots sitting in a roboport, then all current jobs should already have bots assigned.
That is the point, the criterion of ...

Hi :D

is there any way to assign specific tasks or priorities to each robot? to have the least number of inactive robots or force them to perform a certain activity

for example (extreme): assign 2.4k robots to move the items of a specific chest and fill another specific one in a single trip

if ...