no, unfortunately the 2012+ CR-V solely offers a re-lock feature if you unlock the vehicle and no doors are opened, it will re-lock in 30 seconds.
if you install an aftermarket alarm system they usually offer the auto lock feature, fyi, I've locked myself out due to this feature, so you might want to have aaa for those instances where you leave the key in the ignition at the gas station (honestly I got locked out of my honda pilot 4 times in 1 year), once with the ignition running.