Yes, it is possible and is already enabled. I don't think you have observed but when an executor is idle for more than 60s, it is automatically removed. This is means that the default time set is 60s. You can change it like this:
val sc = new SparkContext(new SparkConf())
./bin/spark-submit <all your existing options> --spark.dynamicAllocation.executorIdleTimeout= <new time>