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 tagwp_meta()Typically goes in the- Meta
comment_form()Goes in comments.php directly before the file’s closing tag ()
section of a Theme’s menu or sidebar.
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
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