If you’re getting prompted:

Enter passphrase for "/Users/user/.ssh/id_rsa":

That means SSH is asking for the passphrase you set when creating the private key.

To avoid entering it every time, add the key to your agent and Keychain:

ssh-add --apple-use-keychain ~/.ssh/id_rsa

If you’re still getting prompted, add this to your ~/.ssh/config:

Host *
    AddKeysToAgent yes
    UseKeychain yes
    IdentityFile ~/.ssh/id_rsa