Windows 10's mechanisms for managing File Associations have been broken since the 1803 Update; possibly earlier.
In Registry Editor, if you navigate to HKEY_CURRENT_USER\Software\Microsoft\Windows\CurrentVersion\Explorer\FileExts you will see file extensions listed. if you scroll down to .rar, and expand it, I'll bet there is a "UserChoice" key. This is the problem.
See what is supposed to happen is there is a setting that indicates the users choice for file to open (eg. the "Always open with this Program" checkbox), and the hash value ensures that if the setting is changed by a program, then Windows will know "oh, the hash doesn't match" and will ask you what program to use again. The problem is that as mentioned, the Dialog is broken; it either doesn't set the UserChoice settings, doesn't set the Hash and can constantly ask you over and over even though you check it off each time.
The "solution" is to delete the key for the file types in question from that UserChoice key. Without that setting Windows will instead fallback to standard File associations and will open it with the file directly associated with it.
Note that if you use the Open With dialog with the file type, it is likely that this will "break" the file association again and it will begin prompting constantly.