Stash enables automatic fork syncing if selected:
https://confluence.atlassian.com/display/STASH/Keeping+forks+synchronized
It will update any branches in your fork that
You can create a Github App that use Github API to check the upstream repo periodically. Once an update is found, use Github API to create a pull request then call updateRef to update your branch to match master.
Or, just install this Github App that does exactly that