If you use LDAP and not kerberos then you need a password. However you can provide it with a password file
beeline -w ~/passfile for example. You just need to make sure the password file is only accessible by your user for security. Then you can just keep the beeline command in a shell script to execute it in a simple command.
Password less Su would be done in linux using the sudoer file. Password less ssh is done by adding the public key of the caller to the authorized file of the target host. If you need those.