Is there a way to have an IDE fix Checkstyle errors automatically without having to fix each manually?
Your question is rather vague, but I think what you're asking is if CheckStyle can automatically reformat code that it's checking to fix code layout problems that it finds.
The direct answer here is "no."
However, there are a number of "Java source code formatters" (google that, choose one) that will do what I believe you're asking for.