Yes, from sony's cumulative sold through (not shipped) yearly/annual reports. Jut look at the link provided above and if you are so inclined yu can find other such reports and do the math yourself.
I am actually surprised the one for 2020 (covering the period of 2019) hasn't been released yet. Usually goes something like total sales of PS4 has reached bla bla bla and we can just subtract the previous total sales announcement numbers from the new one to know how much was sold in the previous calendar year.
These normally go out in mid to end january, because they calculate, accounting bla bla .. So it will come soon within 2 to 3 weeks, don't worry