Do you need to include 'started to' in a sentence?
Started to do something is redundant in most cases.
If you started to drive down the driveway, you are, in fact, driving. It's inherent that when you're doing something, you started doing it.
Consider the following two sentences:
She started to complain loudly about her seating partner.
She complained loudly about her seating partner.
Using started to here doesn't add any meaning; it just slows down the pace of the sentence.