Issue booting back into macOS from bootcamp Windows 10

Hello,

Recently I used bootcamp, on my Macbook Pro, to install Windows 10 along side macOS. All good and dandy, except when I need to boot back into macOS. If I try to use the bootcamp software from Windows to boot into macOS it gives an error about not being able to find the mac partition. When I use the "Shutdown" button from Windows, IE: Alt (to select target disk), Cmd+R, or Cmd+Alt+R, none of which work; it just boots right back into Windows.

However, if while in Windows I hold down the power button until my mac turns off, the key combos work perfectly.

Can anyone advise to what is happening and how I can fix it? Until then, I can keep force shutting down but it isn't the ideal solution.

Thank you for any advise!