Is there a way to recover Pokeballs that miss?

No, every throw regardless of if it misses, hits and breaks out, or hits and captures will use 1 of which ever Pokeball you're using.

Every time you throw a Pokeball, it is subtracted from your inventory and you will not get it back, no matter what.

Tapping a Pokeball does not recover it. Instead, it just despawns it and allows the next throw to happen quicker.

Pokeballs are common enough that losing a few won't harm you at all, fortunately.