No. If you're the same person asking this 5 times a day the answer is get patience. Unfortunately, the line to get them has a 5 hour wait. (pantomimed rim-shot noise).
If you're cooking frozen, there's half your problem. If it's fresh or defrosted, 20 mins is nowhere near enough for a chicken leg. Just to prove it's possible, put it on low-med, where the flame touches the pan just enough where it wouldn't count as sexual harassment. Then go away for one hour. It might well be overcooked by then. That's your metric. You now know when you are going to fall over so you know when to save yourself. On the next batch, when it's about 90% of the way cooked, turn it up high and crisp up the outside. There are times to do it the other way around but right now, you are the roommate who burns all the pans and then takes up space not eating the horrible food you burned and under-cooked because cellphones have kept you a 5 year old who has been alive for 29 years.