In my testing the Kindle for iOS and Kindle for Android apps take you back to your current book, even when force-quit or after a device reboot. If you are not in a book they return to the library view upon re-launch.
Trying the same thing on my Fire tablet (running 5.3.1.0) the app returns to the library view, even if it was last exited while reading a book. Perhaps this is a bug?
Someone else may have an idea, but I doubt that there is any practical way to change the behavior of the reading app when it is launched. Setting the library sort order to "Most Recent" at least makes the book you were reading come up as the first choice.
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