I don't think so, but I'll be following this thread to find out if anyone else has tips.
We have techs right click on machines and add them to a static "waiting for retirement" filter. Then once a day or every few days I mark those computers asset status as retired (can do in bulk from filter, so it saves me from looking them up), and then I delete the retired machines in bulk a few days later from another saved filter (all machines set to status retired).
I think you can safely just delete them and skip the retirement step but someone in support told me you should retire and then the next day after overnight processes complete do the delete.
See my previous thread here on retirement and licensing, etc