WordPress will only prompt you for your FTP connection information while trying to install plugins or a WordPress update if it cannot write to /wp-content directly. Otherwise, if your web server has write access to the necessary files, it will take care of the updates and installation automatically. This method does not require you to have FTP/SFTP or SSH access, but it does require your to have specific file permissions set up on your webserver.
If you do not want to (or you cannot) change permissions on wp-content so your web server has write permissions, then add the below code to your wp-config.php file:
define('FS_METHOD', 'direct');
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