What it sounds like you want is only your home folder encrypted, where it decrypts seamlessly upon login. It sounds like you have encrypted OS root, which is more secure but necessarily requires a password before the system gets to the login screen.
Other than reinstalling your system, you do have the option of either making your decryption password shorter, and/or enabling auto-login after boot (if you're the computer's only user), so you'd only have to type one password instead of two.
I'm not familiar with exactly what you mean, does it not require a password to boot that way? I have full-disk encryption on my laptop but not with TPM, grub just prompts me for a password before the kernel boots