Every time I connect my Android to my Ubuntu it asks me to allow the connection, can I change that? I have a Galaxy J7 and Ubuntu 16.04 on my Linux box.

Every time I connect the phone to the computer, it asks me to ALLOW the connection.

Is there a way to add an authorization for that one computer to connect automatically and without an ALLOW each time it connects?

I found a couple of answers to similar questions, but from like 2010 and 2012. The answers on those did not seem to make any sense for the J7.
Revoking USB authorisation in developer settings (enabled by tapping "Build number" 7 times ) fixed the problem for OP and they needed to authorise only once and not on each time it was connected, as earlier

Probably it was because of authorisation being "forgotten" on the device or a handshake issue between PC and device