Open the approval form directly from the email link in the approval email

We have a requirement in EPBCS where we are trying to introduce approvals. While testing, we observe that when an approval email is triggered, it just contains the link to the instance. Once the user clicks on the link, it takes him to the login page and then application home page from where he has to go and find the form.

Is there a way that the link directly opens the required form post login without any further navigation?