I rarely watch an episode that I left off from the beginning.
Is there an option to always resume playing, rather than having to select between resume playing and start from beginning?
In settings, there is an option to change from asking if you want to resume from where you left off or to just to start playing back automatically.
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Where in settings?
Settings > Playback > Resume Playback. It defaults to "Ask", but you can set it to "Automatically".
You should only be getting prompted to resume or start from the beginning on content that has progress. If you rarely do this, then you shouldn't even be seeing this prompt 
Better question, can we get this added to Android? 
Found it! I had to update the app and it came up.
(The option is still missing in my FireTV app though.)
Thanks!