Small encore: Traditionally, the AC motors have soft starts and full voltage across the line (FVL) starts. Therefore, terms "soft start" and "FVL start" are frequently used. However, the DC motors have to have arrangements to limit the armature current. This could be viewed as if the DC motors, except the small ones, were soft started, which is somehow tacitly assumed.
Reference:
Gordon R. Slemon, "Magnetoelectric Devices, Transducers, Transformers, and Machines," John Wiley & Sons, Inc., 1966,
page 292 states:
"It is only the very small machines with relatively high armature resistance that rated voltage can be applied suddenly to the armature at standstill without exceeding the maximum transient current that the commutator can switch without damage. For larger machines, either the rate of change of the armature voltage ea must be limited, or additional resistance must be added to the armature circuit."