samsung - How to boot system-as-root device always as rooted?

I have a Samsung S10 5G device that is actually a system-as-root device. I have rooted it by following the instructions given here.

As the system-as-root devices have no ramdisk in boot.img but in recovery.img so, I have to always boot the device with a recovery combination to get the root access.

Is there any way to achieve the root on a normal reboot?

I have a full ROM image of the device so, I believe there should be some way. Please share your thoughts.