Trigger approval request based on submitter info

My org's travel request form goes through two approvals, first the submitter's direct supervisor approves, then the COO approves. I know I can have the form submitter choose their supervisor from a list of approvers on the form to trigger the first approval request that way. Is there a way to omit that step from the form and trigger the first approval request to the supervisor based on the submitter's name or contact info instead of having them select their supervisor on the form?

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