Leaving the beach without either daggers or rudders in the water is almost impossible.
Normal thing to do is to have the rudders just hanging down so you can steer a little,
crew will put a little bit of board down as soon as you leave the beach and depending
on the wind angle hold the board in your hand so that you can pull it out if needed (dont want to break it when you get pushed back onto the beach!).
Jib should be a little bit tight and mainsheet traveler out, like you described.
Sometimes the wind on Texel is offshore, than you just push of and set the spinnaker