If you allow fivesomes for one round then there is a solution in 6 rounds where all pairs play together exactly once.
However, the answer to your principal question is, yes. For example the following schedule covers all pairs once and no more than twice:
10 3 8 16
13 1 20 4
14 6 15 9
2 5 17 12
11 18 19 7
8 20 12 14
7 15 17 3
16 18 1 2
4 10 19 6
9 5 11 13
15 20 1 18
13 5 8 4
7 16 6 12
2 9 3 19
17 11 10 14
20 5 3 6
10 9 18 12
15 16 11 4
8 1 19 17
14 13 7 2
11 1 3 12
8 7 9 4
10 15 2 20
6 18 13 17
19 5 16 14
13 19 12 15
6 8 2 11
1 7 10 5
14 3 4 18
17 9 16 20
14 1 6 9
20 11 7 19
8 5 15 18
4 17 2 12
10 13 16 3