There is no modified version of ASQ-3 or ASQ:SE-2, and it is unlikely to have parents complete both tools in less than 15 minutes. However, you could focus on ASQ-3 and only complete ASQ:SE-2 if a parent had concerns or the Personal-Social domain on ASQ-3 was low.
To cut down on the amount of paper, you could consider completing the questionnaires electronically on computers or tablets with ASQ Family Access if you have access to the internet.