Is there anyway to have an iPhone remember which computers it trusts?
Everything I plug mine into any computer that I've already allowed it to trust, it asks me again, "Allow this device to access photos and videos?"
It is expected to ask once when I connect it:
to a computer or other device for the first time, ..
These computers remain trusted unless you change which computers you trust [reset location and privacy] or erase your device.
None of these resetting has been done to make the iPhone forget the computer.