USB Kali Linux boot

I have a properly configured USB (type-A) USB flash drive with a bootable Kali Linux distro on it.  I have successfully booted Kali off this USB drive from several laptops, including my Dell XPS 15 9570 running Windows 10 Pro.  However, booting off of this flash drive is a pain in the neck, rather going back to booting Windows is the pain.

If I disable Secure boot in the BIOS, I can boot off the USB drive.  If I then reboot I keep asked about bitlocker recovery key.  I just want a simple way of being able to boot of this drive when I want and a simple way of booting Windows off my C drive when I'm done.

Thanks for any suggestions.