My Mavic doesn't leave the ground unless it is in GPS mode and has acquired at least 10 satellites. Period. And in the rare event it loses GPS lock while flying, I manually land it IMMEDIATELY. Which is easy because I *always* keep my Mavic in visual LOS.
Sometimes my Mavic sits on the ground for what seems like 5 minutes as I wait for GPS lock. It's probably 1-2 minutes at worst and 30 seconds to 1 minute on average. That wait can feel intolerable sometimes. But wait it out I do.
Mark