There’s no for sure way to 100% prevent being issued a boarding pass with SSSS.
Some have reported that you can ask an airline agent at the check-in desk to re-issue a boarding pass without SSSS but it’s not clear to me what the success rate is when doing so and how much control the airlines have in the process.
However, if you’ve been subject to them on a repeated basis, you can apply for a redress number. This is a special case number that the DHS issues to help you avoid unnecessary additional screening. Basically it’s a way for the government to give you a close look to make sure that you’re not a high-risk traveler.