Zoom require that all meetings are secured with one of the following security options: a passcode, Waiting Room, or "Only authenticated users can join meetings". If no security option is enabled, Zoom will secure all meetings with Waiting Room.
You can enable the Personal Meeting ID (PMI) Passcode option in the Zoom portal. Make sure you enable to "Embed passcode in invite link for on-click join"
Additionally, you can by-pass waiting rooms by authenticating users based upon then being signed into the Zoom desktop client.
https://support.zoom.us/hc/en-us/articles/360060549492-Allowing-only-authenticated-users-in-meetings
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