Home Assistant only recognizes Homematic devices after restarting HA

After HA has been started (e.g. by restarting the server), no Homematic device is recognized. The Homematic devices are only recognized without any problems after you have carried out a soft restart of HomeAssistant.
It seems to me that RaspberryMatic starts up too quickly and that HomeAssistant doesn’t notice that RaspberryMatic has started successfully.
Who knows a solution?
Is it possible to delay the start of addons, for example?