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If you leave wifi on while you are out and about it should reassociate with the network when it becomes available. The only problem is that it will continue to search for wifi while you are about. You could use tasker to turn wifi on when you are within a certain amount of feet from home but then it would be constantly checking your location so its easier just to leave wifi on.
I keep Wifi on, but turn off the notifications for when it finds new networks within range. Never had any issues with Wifi using up any measurable amount of battery life.