The reason you may need to do two factor could be due to your security policy. Your browser might be set to delete all cookie data each time you close it. With that setting, you will have to do two factor authentication each time.
To change the setting:
Access your browser settings and navigate to "Privacy and Security". Then click on "Cookies and Other Site Data".
Toggle the setting "Clear cookies and site data when you quit Chrome" and make sure it is OFF.
Now whenever you close your Google Chrome browser on your Windows or macOS, your cookies will not be deleted.
Note: You may want to check with your IT department regarding specific office policies.
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