If it is used on bumper to bumper traffic, there will be no problem. Even less if you have had work done on your transmission and have dual ATF coolers or what not. However when you begin to have quicker starts or uphill starts, start in first, it'll save you the unnecessary wear and tear everybody is mentioning.
The only AT Toyota i've ever owned was my previous 90 series with an a343f, I only used 2nd start when I was on LOW, for regular driving i let it cycle through all gear like she normally does. I never found a reason to worry about it starting in second, but I do live in a very hilly city (Caracas, Venezuela) And have absolutely no worries about gas mileage..