The idea is basically to be able to keep a security measure, say in this case fingerprint, but to make it so that I can still do what Wiggum said which is to be able to lock/unlock the phone and have it return me right to where I was last without having to swipe.
On the Nexus 4 there is a specific option, i forget the exact name, to make it so that I can lock/unlock the phone as many times as I want and it will just bring me to whatever I was doing last, but if I do not unlock the phone for 10 minutes then when I unlock it next it will ask for my pattern, which is how I set it up.
The ideas posted are a mix between choosing "none" which means it will never lock, or to increase the "lock automatically" time, which even if set to say 5 minutes, will require you to ATLEAST swipe to unlock the screen every single time, which is what I want to try and avoid.
I looked for some apps to try and make it to be like the Nexus 4 but no luck so far
Edit: I could use smartlock but unfortunately I never keep location on and have no BT devices that I could use to be able to take advantage of this feature
I know this isn't exactly what you want, but try this and see if you can work with it. Set your preferred method of security in the "Lock Screen and Security >>> Screen Lock Type" options ... Then, go into "Lock Screen and Security >>> Secure Lock Settings >>> Secure Lock Time" and choose "10 minutes".
Now, this should set the phone so that it uses whatever security measure you choose (I use fingerprint), but will also keep the phone from "locking" until after 10 minutes, regardless of whether the screen times out, or you hit the lock button to put the phone to sleep, etc.
So, you have fingerprint security, and wake up in the morning ... you use your fingerprint to unlock the phone, and it takes you directly to your home screen. Now, you check emails etc, then hit the lock button, and the phone goes to sleep. 5 minutes pass, or 8 minutes, or even 9.5 minutes ... and you pick up your phone again and hit the lock button. The phone will unlock, but you will still have to swipe the screen to "open" the phone to the home screen.
I know you preference is to have it just open right up to where you left off, but so far I don't see how to make that happen. But, at least the way I describe above keeps you from having to use the fingerprint scanner every single time you unlock the phone.
EDIT: Reading your quoted post again a little bit more thoroughly, I see you probably already know what the above method will net you, but nevertheless, it appears that this is as close as you can get to what you want w/out either rooting the phone and/or finding some other third-party apps that can do the trick for you.
Honestly, I'd love it if these phones could do what you're wanting to do ... but I've basically just turned all that stuff off and have "fingerprint security" set to be always on, with no smart lock and no secure lock time settings. As soon as I hit the lock button, it's locked, period. The NICE thing about my setup is i KNOW no matter what, when I unlock my phone, i have to use my fingerprint to unlock it. It keeps consistency for me, and makes the process relatively painless.
I did use the smart-lock feature for a while, but I found myself at home (where it stayed un-secure), and i would hit the lock button and then wonder why my fingerprint wasn't unlocking the phone ... I would be forced to swipe to open. I found that ridiculous, as it SHOULD open with the fingerprint reader no matter what ... long story short, it got annoying having to remember if I was in a secure area, or not, to know what method I needed to employ to open my phone.