Is there a way to recover Pokeballs that miss?
Can you recover Pokeballs that miss when trying to catch Pokemon?
No, every throw regardless of if it misses, hits and breaks out, or hits and captures will use 1 of which ever Pokeball you're using.
Every time you throw a Pokeball, it is subtracted from your inventory and you will not get it back, no matter what.
Tapping a Pokeball does not recover it. Instead, it just despawns it and allows the next throw to happen quicker.
Pokeballs are common enough that losing a few won't harm you at all, fortunately.