If you run a dual or multi-boot setup with grub, setting "remember previous boot" is really easy and (I find) convenient as it tends to fit my usage patterns.
Couple of useful references at askubuntu and the grub manual, but all you need to do is make the following changes to /etc/default/grub:
# GRUB_DEFAULT=0
GRUB_DEFAULT=saved
GRUB_SAVEDEFAULT=true
Then run sudo update-grub
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