There might be mods that do that, but I don't know of any that do. It is pretty straightforward to do it yourself, however.
Look for "# try and vassalize, but only conditionally" in the other_claim CB's on_success_title block. You should find "ROOT = { dynasty = FROMFROM }" ten or so lines below that. Right below
that line, put "FROMFROM = { higher_real_tier_than = ROOT }" (without quotation marks) on a new line
before the line with the next "}" and save the file. This will make the claimant (ROOT) a vassal of the person pressing the claim (FROMFROM) if FROMFROM
could be ROOT's liege, disregarding any current temporary titles held by FROMFROM (which otherwise could mess things up).
Additionally, while this is a tiny change script-wise you ideally
should set it up as a proper mod rather than doing it in the installation directory, as not doing that means there's a possibility the change will be reverted if there's ever a vanilla patch affecting the same file (unlikely, but...) or you ever end up having to verify the integrity of the game files (as that check can't tell if a change is intentional or not).