The new Starship Ops Manual from DGP addresses this matter; it seems that
thruster plates have a limited but usable efficiency in other directions
than straight back, so a ship with thrusters in back can lift straight up
if its engines are powerful enough.
Usually what's done is that the ship lifts in a horizontal attitude, slowly
tilts back in midair until it points straight up, then boosts. The reverse
process is used for landing. (Alternatively, if there's an air-traffic hold
pattern, horizontal flight is also possible.)
metlay
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