The link I provided tells you how to do it.
You create a task, and then create a shortcut to the task so clicking the shortcut you made will launch the application without the UAC prompt. Its not ties to "load at startup" its just still called a task though 
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"Don't You understand? This is Greek to me! Except I spek Greek, this is like Aramaic to me, and not the Western Dialect I can read a little." - Dr. Walter Bishop
Special relativity is not "Eat Two Big Macs."
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