Context
Jason has a really nice description of this in the Problem section of #1569. But in short, today a step in a Taskrun waits to start until it sees a "READY" value that is populated by the Taskrun controller using the Downward API. The controller waits for all sidecars to be up an running setting the annotation.
Suggestion
For taskruns without sidecars, the controller should be able to set the ready value when creating the pod.
This is a performance optimization and should help the taskrun start running faster and the taskrun controller have less overall load.