No, and missing the hearing actually made the situation significantly worse rather than better.
A protective order exists to protect the person who requested it, not to accommodate the person it was issued against. The individual subject to the order has no standing to unilaterally request its removal, and a judge is not going to lift a protective order simply because the restrained party wants it gone. The only person who can initiate a modification or dismissal of a protective order is the protected party, and even then the judge makes the final call based on whether removing the protection is in that person's interest and safety.
Missing the court hearing where the order was set created a separate problem on top of the existing one. When someone fails to appear at a scheduled court hearing, judges have the authority to issue a bench warrant for that failure to appear. That warrant is an independent legal issue that can result in arrest regardless of whatever else is going on with the underlying case. The person is now potentially looking at both the two-year protective order and a bench warrant sitting out there waiting to be executed the next time they have any contact with law enforcement.
The only productive path forward is to address the failure to appear proactively. An attorney can sometimes file a motion to recall a bench warrant and reschedule the hearing, particularly if there is a legitimate explanation for why the appearance was missed. Doing nothing and hoping it goes away is not a strategy that works in anyone's favor.
The protective order runs its two-year course regardless. The bench warrant is the more urgent problem to address.