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I think autostart
launch parameter should be good enough, can you share you launchers?
You can base your launcher on this one here: https://github.com/SteveMacenski/nav2_rosdevday_2021
Concretely this part:
bringup_cmd = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(nav2_launch_dir, 'bringup_launch.py')),
launch_arguments={'slam': slam,
'map': map_yaml_file,
'use_sim_time': use_sim_time,
'params_file': params_file,
'autostart': 'True'}.items())