First try checking if WhatsApp has access permissions to the Keychain on your iPhone. Sometimes after a system or app update, those permissions reset on their own and iOS asks you to re-enter the password every time. Go to Settings > [Your Name] > Password & Security > App passwords, and check if WhatsApp shows up there. If it does, try deleting it and then log back into the app.
What most people don't mention is that sometimes the issue comes from having two-factor verification enabled in a way that conflicts with how WhatsApp stores credentials. Also, if you recently updated your operating system or changed your Apple ID password, that almost always triggers this. Download the latest version of WhatsApp from the App Store (sometimes it comes with fixes for this), and if nothing works, chances are you'll need to do a complete logout from the app, wait a few minutes, and log back in from scratch. It's not the most convenient, but it usually fixes it.