Hello Robert
I'm surprised to see that has been achieved, when I checked-out what Android Studio could do, there was no obvious way to suppress the pop-up. In fact the developer has not produced a work-around but, by taking control of the whole process, omitted the pop-up. That was however back in 2014, no guarantee that it will work with the latest version.
So, what would be need for App Inventor is an extension. I don't think there is one, but it is likely that one of the extension developers would take up the challenge. You can search Taifun's list of extensions and make a request to one of the developers. Usually, if the extension is time consuming to write, the community get together to sponsor it.