Yes and no. When the warning came up, I went into the BIOS settings and found a tab where it offers the ability to modify how warnings and errors are treated during startup. I wasn't able to stop the warnings from occurring, but I was able to prevent the computer from waiting for user input. Now, the warning flashes for a couple seconds, then the computer boots normally. It's not the solution I was looking for, but it nullfies the primary concern.
I have a G15 5520 that I'm currently using with a TB16 docking station. While the docking station is equipped to provide power through the Thunderbolt cable, the USB-C port on my laptop cannot receive power. This is not a major issue - I simply plug in the laptop's power adapter via the power port, in tandem with the USB-C cable.  However, every time I boot my computer up, a warning interrupts startup stating that the USB-C slot is not equipped for charging and as such will not receive power. Again, no issue there. But the warning itself is annoying, and there is no option to ignore the message permanently. I'd like to disable this particular warning, as I'm well-aware that I cannot charge this laptop through the docking station, and need to use the power adapter instead. It's extremely tedious as my desk setup is such that the laptop isn't easy to reach when plugged into the docking station.  Is there any setting in SupportAssist that would allow me to do this?
Disable Pre-Boot Warning: Docking Station Charging