AFAIK starting TOR is relatively expensive because it has to query servers and build circuits before you can use it, but because it caches data follow-up maintenance is relatively cheap. Provided you run it uninterrupted, that is. So I can't see any benefit from per-session TOR runs or otherwise regularly killing TOR. If you want to pursue it anyway then if your configs check out OK you can probably configure it to run under Xinetd just like you would any other TCP service.
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