Is there a way to use a form so that it creates a parent row with children rows when it's submitted?

I'm wanting to create a Purchase Order Request Form that when submitted it adds a parent row to a sheet identifying the new purchase order and then has a child(ren) row(s) underneath with the details of the items being requested, kind of like this PO Log Template I found here:

I saw a similar question here in the community from 2015 saying it wasn't possible, but I am hoping that now in 2021 this is possible. 🤞

Thank you!