It is getting increasingly hard not to think of my Androids that has never done anything like this. It just continues on exactly the location in the last played song or whatever else I was playing. Audio book, radio podcast, movie, whatever. It just picks up from where I was.
Sorry, but blasting 'Whatever you listened to on your headphones 6 hours ago' at ignition is almost as annoying and it's the default on Android too.
My iPhone did the same (as your Android). I am not sure I like it either, because I tend to listen to very different styles of music in my headphones and in my car. Anyway, it’s actually the car that tells the phone to start playing when it is connected. I just disabled it. It’s not an iOS versus Android thing.