No you have to start on the line but when autonomous is scored you can’t be contacting the line. Therefore to get the win points both you and your alliance have to at least move forward enough to not be contacting it. (And still complete the other tasks of course)
Great explanation, I just want to clarify one thing to remove any chance of confusion.
You would need an auton that moves enough to not contact the auton line or break the plane of the starting line. (Along with all the other stuff you and/or your teammate need to do)