Disable gatekeeper notarisation check without disabling SIP

I am running into [this issue](https://sigpipe.macromates.com/2020/macos-catalina-slow-by-design/) where MacOS does security checks on new executables *over the network*. This introduces a significant delay when first running a new executable. It's very annoying when developing code because the executables are almost always new. Is there any way to disable this check *without disabling SIP*?