Yes, you can change it from delayed start to normal start.
That service is just an interface between the IRST software and the user, it actually is not necessary for the IRST capabilities to be working on a PC, they will be any time the PC/OS is running. You can double click the IRST icon in the Windows hidden icons to start it immediately when the PC boots, or run it from its Control Panel entry. You could create a shortcut for it by right clicking on the IRST entry in Control Panel, if that is convenient for you.
Just curious, why do you need to do this?