Unfortunately It is not unusual to see the battery icon on the screen when attempting to power on these USB-C Apple laptops when running the laptop on just the battery -- even if the battery has significant charge. It is just one of the many quirks these USB-C Mac have. I've seen this on so many of our organization's Apple USB-C laptops that I now ignore it as long as the laptop powers on.
Just out of curiosity, what happens if you re-enable the automatic boot?
At best all you can do is try an SMC Reset. A PRAM Reset will (or should) clear the customized setting and re-enable automatic boot.
You can try running the Apple Diagnostics to see if any hardware issues are detected.
You can have Apple or an AASP examine the laptop, but don't be surprised you still have the same issue even if they replace a part. If the problem occurs when using the charger, then you may have an issue that needs to be repaired.