I've had to drive trucks with broken clutch linkage back to the shop a couple times.
I'd just put the trans in low gear, start the engine and off it would go, then just shift up from there. (without the clutch obviously)
When coming up to a stop, after downshifting thru the gears, I'd just pop the stick in neutral, then shut the engine off once the truck was completely stopped, then repeat the process to start off again.
So to answer the question, yes it will start off in gear (lo gear), but I've never tried it in the higher gears.
I would think that the starter wouldn't have enough torque to move the truck in the higher gears.
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If you can't shift it smoothly, you shouldn't be driving it.
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