No, there's no standard API for a timed pthread_join(), and not one available in the bionic C library used by Android. Though looking at the bionic source code, it'd be very easy for them to implement the pthread_timedjoin_np() API as available in glibc.
What you can do is to modify your thread to signal a pthread_cond_t when it's finished and about to exit. Your other thread that wants to wait on that thread does a pthread_cond_timedwait() on the condition variable.