It is possible to publish many model space drawings from within one .dwg file.... I'm not sure it's much quicker than what you're already doing. Here's what you need to do (there may be other ways to accomplish this as well):
You'll need to have a Page Setup created for each model space drawing you want to print (whether you're printing direct to a printer or to a pdf doesn't make a difference). Then you'll need to manually load the drawing into the Publish dialog box one time for each instance of a drawing/view you want to publish from model space. After the first instance, you'll need to manually rename the file you're loading as it won't allow duplicate names in the Publish dialog box. (you can call them "Sheet 2", "Sheet 3", etc., if you want)
Once you have each instance manually loaded you simply select the appropriate Page Setup (i.e. - the page setup for "Sheet 2", and "Sheet 3", etc.) for each loaded instance of your drawing, set the output to Multiple-page PDF, and you're good to go.
