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Tasker is currently in beta and talked about in other threads here. I downloaded yesterday and it is a very nice feature rich application that you can use to schedule applications, tasks, etc. It will schedule tasks at boot/start up.
Like I said, it is still in Beta, but the current version I have seems to be stable and functional.
These are the apps running when I turn my phone on. Keep having using task advance to turn it off. Battery not very good:
paypal, instant messaging, fring, drocap2, vlingo, youtubeclock, gmailgallery, quice office etc..