This is a bit ambigus.
'Triggering an E-stop' would usually mean pressing the E-stop.
The way the sentence is phrased, it sounds as if you mean 'The moment I reset the E-stop, is it possible to resume the operation from where the system left off ?'.
If that is the question, then no, you have to have an additional start button or switch.
Why 'bad practice' ? If the application allows for it, and encoder positions are not reset upon the E-stop, IMO it would be totally normal to continue where the process was interrupted.
If you have to reset the process completely, it is not only returning to the home position, but also purging the system of any half-processed material/produce. In large processes that would be a huge problem.