Yes, this can be done. The simplest would be to control the creation of the items from the high level board and use one these (or similar) automations to create and connect the item in the lower level board:
Next easiest is to use the following automation. It will require a column value to match between the boards:
A third alternative would be to use something like Integromat to link the items. Here, if you can describe it, you can probably do it.
Let me know if you need more help on any of those.
Jim