During discussions with @saikishor about #811 the question came up, if start_with_holding=false behavior is useful at all?

The code could be simplified if the default start_with_holding=true is the only option.

Some context: the set_hold_position feature from #558 was motivated from the following PRs/issues:

• JTC: maintain current configuration as hold position #531
• JointTrajectoryController fails to hold position on effort control #514
• [JTC] set_hold_position() doesn't actually stop the robot #683
• JTC does not stop velocity command after goal succeed #469

I can't remember now anyone asking for set_hold_position=false functionality. This was the behavior before #558 and added for legacy reasons.

Is there a use-case for this or should we delete this option and don't confuse people with it? See #801 (comment)
As it wasn't backported to humble yet, I think there is not a big use of the current behavior and no one would miss it.