How do you start up Quick Start once the setup skipped it?

To begin the startup and transfer process again, simply perform a full reset of the iPad:

Settings > General > Transfer or Reset iPad > Erase All Data & Settings

After the iPad completes the reset process, you can follow QuickStart where available - or manually setup from the initial “hello” screen.

These support pages should get you started with setup of your new iPad - and the methods of transferring your data from old to new iPad:

Set up your iPhone, iPad or iPod touch – Apple Support

Transfer data from your previous iOS device to your new iPhone, iPad, or iPod touch - Apple Support

Use Quick Start to transfer data to a new iPhone, iPad or iPod touch – Apple Support

If the donor iPad, from which you are transferring your data precedes iOS12.4, QuickStart will not be available.

“Transfer” is rather a misnomer. In reality, your data and setup is merely cloned to the new device. Nothing is moved or removed from the original device.

An alternative is to restore either an iCloud or iTunes backup to the new device:

How to back up your iPhone, iPad and iPod touch – Apple Support

Restore your iPhone, iPad, or iPod touch from a backup - Apple Support