I guess you have the DCDC switch set to “always on”?
There are some issues sometimes in the way that the DCDC is being turned on and off. a voltage is raising on a pin, until it reach a threshold and start the DCDC.
I never had issues on my board with “always on”, but had issues in other projects where we use the “control” option.
There is always the rolling start option, when you turn the motor/prop, the ESC will start. You can check ans set the power option in the app menu of vesc tool.