All my audio comes from Android Auto (either Pandora, Audible, or Spotify, usually), and when I turn the car on, it is silent until I manually turn something on. I'm not sure if there's any sort of similar behavior without using Android Auto, but if you have an Android phone, one solution would be to connect it and start an app playing audio before you turn off the car. A bit involved if you don't normally use AA, though.