Gmx mdrun tpr reading frequency

GROMACS version:2020
GROMACS modification: No

I know that gmx mdrun reads tpr file for MD simulation and tpr file contains structural parameters (such as atom types and charges). My question is that is this tpr read only once at the beginning of the simulation or is it read at every single step?

The topology is static. It is only read once and all relevant data structures are populated.

Thanks.