Alas, no... but it's a simple enough thing to get used to. *Perhaps that would be yet another cool software choice for Zendrum upgrades, though! I would see it as PS (Program Select), choice between 0 and 1, which would reset the program change scale to start at 0 or 1.
Here's one thing you could try: give the kits on the TD-20 a title WITH the Zendrum's program change number in it: for instance, title Roland kit 1 "00 big Rock Kit", call kit 2 "01 Rhythm N Blooz", call kit 3 "02 Naked Happy Dance Kit", etc. Would that help?