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Yes. You can choose to skip the pre-session "Chose audio mode" window. Disabling this window means you will skip the pre-session "Choose audio mode" window and will be automatically connected to audio via your preferred default mode in future sessions. Note that you will always be able to switch audio modes during the session using the Audio pane if needed.
1. Open the Preferences window and select the Audio tab in the menu.
2. Uncheck the "Show me audio options before connecting" box.