Unless a theme provides such a hook there is no way to do this with actions and filters. If a hook is provided then it will be theme specific, no generic WP solution exists.
For a full list of the hooks that a theme should implement, see here:
At the moment this includes:
wp_head() Goes at the end of the element of a theme’s header.php template file.
wp_body_open() Goes at the begining of the element of a theme’s header.php template file.
wp_footer() Goes in footer.php, just before the closing tag
wp_meta() Typically goes in the Meta section of a Theme’s menu or sidebar.
comment_form() Goes in comments.php directly before the file’s closing tag ()
Note that aside from
wp_footer, there is no guarantee that the theme developer knew to add them, or did so correctly, particularly