Is there any way to fetch orders filtered by "have not parcel tracking url"?

You can call /refb.merchant.v1.OrderService/ListOrders and filter by labels, using the "MISSING_PARCEL_TRACKING_URLS" label (set if at least one order item does not have parcel tracking url set).

{
  "filter": {
    "labels": {
      "any_of": [
        "MISSING_PARCEL_TRACKING_URLS"
      ]
    }
  }
}