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Do you have tasker? If so, you can build a profile that will do that for you automatically based on several triggers (including the proximity sensor if needed).

There are apps available on the play store (like delayed lock) that claim to be able to do something similar too - disclaimer - I have not used this app, and don't know anything about this more than the fact that the description seems to be similar to what you asked about.
I rely rather heavily on tasker :)
 
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Gravity Screen On/Off

Are you tired of turning on and off your device when you need it only for a second? Is your lock key hard to reach? Do you have a broken power button?
This app can solve these issues by liberating you from the usage of the power button.
It turns automatically your screen off when you put your phone into your pocket or onto a table and turn the screen on when you take it out or up. No need to touch any button and you are ready to go.


https://play.google.com/store/apps/details?id=com.plexnor.gravityscreenofffree
 
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