Hi cerverojj,
As you deduce, this is a chrome popup and cannot be controlled by Duo.
From my own research, there does not seem to be any way in chrome to auto accept this confirmation box.
Although, I will note that this is a relatively new feature and may see further development or have functions that we are not yet aware of.
I would recommend reaching out to google to create a feature request as popularity for this functionality will dictate if this behaviour is changed in the future by the chrome developers.