In terms of actually getting the application to launch at startup, having a link in the startup folder is your best bet. Or if not the startup folder then the startup reg key.
A way to work around not having the Icon in it's normal position is to have the application place a link to itself into the startup folder on Application startup. ClickOnce apps will run the first time they are installed. The application can use this startup to place a link in the Startup folder. Now the link will be in both places and you should be golden.
There is the issue though that now deleting the ClickOnce app will no longer actually delete it. ClickOnce will not track the manual link added and hence every time someone un-installs your app and reboots it will re-install. I would start considering that program to not be behaving well :(.