I understand the need to get the servos under control and certainly stop them from faulting on power up. But I wonder if the the E stop/position loss issue is a real problem.

My normal operation mode is to start and home the machine and not hit the E stop again until I'm done for the day at shut down. The E stop is there in case there is an actual problem. On one machine I have a seperate button to enable/disable the servos, leaving the drives powered up but disabled.