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:
https://developer.wordpress.org/themes/advanced-topics/plugin-api-hooks/
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_head
and wp_footer
, there is no guarantee that the theme developer knew to add them, or did so correctly, particularly wp_body_open
and wp_meta