Short answer: no.Something fun I've always wondered about. If a trespasser is injured on your property and they sue you, can you let them win the lawsuit with no objection. Then once they win, turn around and sue them for damages as a result of their trespassing. In other words, their trespassing resulted in damage to you, for whatever the award was, plus lawyer fees.
In most instances if you don’t bring counter claims when you answer, you waive them forever. Many nuances as always ...