this is more a Browser setting than it is a Qlik Sense setting. A single sign on with your Active Directory user without being prompted by the browser is something you can configure in your Browser. And for instance Google Chrome actually utilities the same settings that your Internet Explorer is using.
If you ope up your IE, then go to your Internet Options and the tab Security, you will find the following options:
Make sure that your URL you are using for opening the Hub is part of your Intranet Sites. Then you should have the SSO experience out of the box in your IE and Google Chrome. In case you are using Firefox you will have to deal with settings in your Firefox where you need to tell Firefox which URL's are trusted and where the SSO should work. Let me know if you need more details on the Firefox use case or if IE and Chrome works jsut fine for you.