This process is almost similar to removing an application from automatically starting up in macOS, see the link for more details.https://techdirectarchive.com/2019/01/15/how-to-stop-a-program-from-starting-up-automatically-on-macos/
Launch the system properties as shown below
– Click on Users and Groups
– Click on the Login Items and
– Click on the “+” as shown below
Now select the application you wish to startup automatically.
– Select the application and
– Click on Add
When this is done, to ensure this app is available to start automatically, click on the “Password” tab and back to the “Login Items” tab. Now you should be able to see the application listed in the list as shown below.
That is all that needs to be configured for automatic launch of an application.