Generally, it is safe to remove any and all startup programs. If a program starts automatically, it’s usually because they provide a service, such as an antivirus program. Or proprietary printer software.
You can disable all but your Antivirus, and move on from there. Lastly, even with that many startup items, it should not take that long to boot. I would suggest taking a look at how much memory your computer has by doing the following: Click Windows flag and search for and click Settings > System > About and look for the Device Specifications section. Here you can determine how much Memory / Ram you have installed, anything below 8GB is not recommended.