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No. But just do it. Contrary to what the dialog box says, it doesn't require driving 100 miles. From my recent experience, Camera Calibration typically takes less than one mile of citydriving combined with about 5 miles of highway driving.
Be sure to do the calibration driving during mid-day times when ambient lighting is optimum, and to avoid driving into the late-day Sun when camera glare is more likely. For city driving, be sure to include a few left and right turns.