How can I access the "Open command window here" option in Windows without holding shift?

Write up on How To Geek, they also include downloadable reg files to make the edits for you, or open regedit and navigate to:

HKEY_CLASSES_ROOT\Drive\shell\cmd

Change the name of the key "Extended", or just delete it, this will give you “Open Command Window Here” on right clicking drives.

For directories do the same thing as above here:

HKEY_CLASSES_ROOT\Directory\shell\cmd

1. Start / regedit

2. Browse to each of the following keys in the registry tree:

   HKEY_CLASSES_ROOT\Drive\shell\cmd
   HKEY_CLASSES_ROOT\Directory\shell\cmd
   HKEY_CLASSES_ROOT\Directory\Background\shell\cmd  
   

3. Delete the file 'value' called 'Extended'.

Alas the Registry Editor doesn't have a URL bar before Windows 10, so navigating to find those three folders is more tedious than it could be.

I like using the small CmdOpen shell extension. It will replace the built-in functionality and enhance it by adding an Open Elevated Command Prompt Here option. It also adds entries to the context menu of the folder background, so you don't have to mouse over to the tree view and hit a small target (or go up a folder if you have the tree hidden).