Is there a way to automatically remove a role after a defined period of time

For ERP Production, our Developers are only allowed access for a defined period of time to execute a change. Currently we are manually adding and removing those roles. Is there a way to add the role with a defined end date/time that it can be removed? We had an Audit finding where this didn't appropriately happen, so looking for any way to automate the process and remove manual intervention.