Apply transition without change clips duration

I come from another video editing program. Is it possible to insert a transition between two clips without changing their duration? For example: clip1 is 10 seconds, clip2 is 15 seconds. Between the two clips, I want to add a 5-second transition, and the total duration of the two clips with the transition should be 20 seconds. I can currently achieve this by placing one clip on track V1 and another on track V2, overlaying them by 5 seconds, and applying the transition. I would like to achieve the same result on a single track.

Thanks