Is there a way in Altium to create a rule that will automatically create a recess from board outline when pouring a polygon?
This is tricky to do it with keep out.
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Your question is not entirely clear. My interpretation is that you want the polygon to automatically follow the board outline.
If this is the case, create a design rule in the "BoardOutlineClearance" section under the "Manufacturing" heading. Give it a distance like 0.5mm (how far away from the board outline you want your pour to lay).
Once applied, when drawing a polygon draw the rectangle around the entire board, and only the inside will fill in, leaving a gap of the predetermined width between the pour and the board outline.