Startup Aplications don't show panel icon

[AllesMeins]

I'm having problems setting up the autostart of some applications properly. As far as I know the "offical" way is via the startup-applications tool. But I've some applications that automatically minimize into an icon in the top panel bar (for example "nextcloud" or "barrier"). This works fine if I start those apps manually thru the launcher or the terminal. But if I add them to the startup programs they get started in background and do not show up in the top panel so i've no way of accessing them. Is this a known problem? And what is the best way to launch a program at startup and make sure it can create the panel-icon?

I'm using Ubuntu 20.04 LTS with all the current Updates.

[ActionParsnip]

Is there an option on the application binary to go to tray etc?

[AllesMeins]

I don't think so - at least it isn't nescessary when launching the binaries from Terminal

[dragonfly41]

Stacer has a useful GUI for launching apps at startup. And other features for management.

[AllesMeins]

Unfortunately stacer seems to access the same startup-routine as "startup programs". So my apps are already there and don't behave any differently when launched with stacer.