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The issue is, though, that if there's not enough power available to the empeg at boot/crank time, how do I resolve that?

If feeding it directly from the battery doesn't work, and if it's determined that there's no way to fix it in software, then the only other simple solution is a capacitor.

Or just getting in the habit of putting the empeg into the dash after the engine is started. That's what I do: Place empeg bag on passenger seat. Start car, pull out of garage. Press button to close garage. While garage is closing, open empeg bag and put it into the dash. Verify that garage closed properly, then put car into D and be on my merry way.