I found this issue after switching from W7. I always have task manager started with windows (I like it's icon always shown at tray) and W10 would not start it at all! This actually made me switch back to W7 for a while until found a solution.
The solution as pcgeek11 suggested is to use task scheduler.
It's pain in the ass create new task scheduler for every program you want to start, but you can created just one scheduled task that runs a .bat file, which then starts any and as many programs you want.
I use nircmd to hide cmd window:
both nircmd.exe and startup.bat are in the same folder.
As an example in the startup.bat I use this to start and minimize task manager:
(second line minimizes task manager)
start /I "" "Taskmgr.exe"
nircmd cmdwait 1000 win min title "Task Manager"