there are some parameters that can effect this and tuning tire models is the most difficult one.
pacejka curves behave poorly at speeds close to zero so some initial large slips need to happen regardless.
the easiest way to is to to use the ASR assist. you can also tweak the wheel mass value but this value needs to stay in a consistent range or rpm matching between engine and wheels can fail in certain cases. additionally lowering engine inertia, increasing tire friction values and lowering throttle sensivity can help.