Is there a way to recover the passcode for parental restrictions on an iPhone?

If you are running IOS 13.4 or later.

Screen Time passcode reset

Erase the phone and restore it to the factory settings.

ASC - Late 2012 Mac mini, macOS 10.15.5; Watch, series 5 GPS/cellular, watchOS 6.2; iPad Air 2, ipadOS 13.5.1; iPhone 8+, iOS 13.5.1; TV 4th Gen, tvOS 13.4.6;  HomePods, audioOS 13.4.6 and Airport Express w/ Airplay 2