Inverse of adjoint action?

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Given the adjoint action $\text{ad}_AX=AX-XA$, is there an inverse adjoint action $\text{ad}^{-1}_A$ such that

$$\text{ad}^{-1}_A(\text{ad}_AX)=X?$$

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Hint: Linear Algebra exercise. A linear map has a (left) inverse iff ...