Unfortunately, since CMS UI refresh (V11.23.3), the CMS no longer remembers the content editor's last selected edit mode, which was a nice feature. The CMS always loads the In-Page Editing Mode.
How to replicate:
this sounds a bug that I reported some time ago and a fix to it has been released in Episerver update 302. And the actual bug and how to reproduce.
The forum thread about the bug/issue: https://world.episerver.com/forum/developer-forum/Problems-and-bugs/Thread-Container/2019/12/select-edit-view-mode-not-remembered-with-cms-ui-package-11-23-0-11-23-2/