No. Settings > General > Passcode Lock is as easy as it gets. Bypassing the associated security would make it insecure and therefore worthless
There are some old 4.x / iPhone tweaks like CleverPin which did provide some passcode setting simplification, but I have no idea If they work on iPad, so check them out carefully.
Lol lucky me a tweak has came out that actually does exactly what I want. Taptapass. Its currently not working correctly but the dev is suppose to be pushing a update some time today.