[keycloak-user] KEYCLOAK_SESSION cookie not getting set in Keycloak 4.1.0. Was getting set in Keycloak 3.4.3

In keycloak 3,4.3: First time I run the app, AUTH_SESSION_ID, KEYCLOAK_IDENTITY, KEYCLOAK_SESSION cookies are set and next time I run the app (before session idle timeout), I do not have to relogin as session cookie has a valid session. In keycloak 4.1.0 , First time I run the app and login: AUTH_SESSION_ID cookie is set. Next time I run the app, KC_RESTART cookie gets set and I am presented the login form again. My assumption is KC_RESTART cookie gets set because there is no valid KEYCLOAK_SESSION cookie. Am I right? How can I resolve this issue? I am sure there is some config I have missed.