I think that using the task scheduler to autostart programs is not very user friendly, and sometimes it has had side effects for me (e.g. tray icon for a program is not added).
To remedy this, I have made a program called Elevated Startup that first relaunches itself with administrator privileges, then it launches all files in a directory. Since Elevated Startup is now elevated, all the programs it then launches is also given administrator privileges. The directory is on the start menu next to the classic Startup directory, and works very much the same.
You may encounter one UAC prompt when the program relaunches itself, depending on your UAC settings.
You can get the program here: https://stefansundin.github.io/elevatedstartup/