If you’re always using your zynthian at home you could have it setup to connect to your wifi, then just opening your iPad and letting it connect to your regular WiFi should let you skip the access point step.
You could also install a dedicated vnc app like Screens and have the connection saved in there, so just need to open that app and hit connect(as long as the IP address doesn’t change, or your network is able to properly parse DNS names. like zynthian.local)