Can you stop a mac from connecting to the display every time it boots from sleep?

Hi all,

I have a 2015 MBP 13" Retina. I connect it to an external display via HDMI, but the annoying thing is, is that every time I boot it up from sleep, it always takes about 10 seconds to reconnect to the external display. It might not seem like much but it really adds up!

I am aware of solutions such as amphetamine to keep the display from sleeping, but I am worried about pixel burn in and battery usage so I wouldn't consider it a total fix. Is there any setting or application I can use to stop this?

Many thanks!