Yes, that's possible. A new putaway feature has been introduced in Odoo 17.4 for that specific purpose. You can configure following these steps:

Last Location Used:

1. After you create your product and create a purchase order for it to receive it, on the transfer, click on the detailed operations icon and choose one of your sublocations (in this instance we selected Shelf 1):

2. We can see now that we have a product in the sublocation Shelf 1:

3. Now go to Inventory => Configuration => Putaway Rules, and set your putaway rule for that product )or product category) and select the sublocation Last used:

4. Create another purchase order to receive, then go to the transfer and click on the detailed operations. You will notice that the sublocation was automatically selected as the same location that this product was received at (Shelf 1):

Closest Location

1. Create your product:

2. Create a putaway rule for that product (or product category) and select the sublocation as Closes location and set a category:

3. This is our current internal locations and sublocation configuration:

4. Create a purchase order to receive the product and you will notice when you click on the detailed operations of the transfer that the product is being received at the closest location automatically:

Note: This document explains how the closest location works https://www.odoo.com/documentation/17.0/applications/inventory_and_mrp/inventory/shipping_receiving/removal_strategies/closest_location.html