36 hours before ending lag phase is well within parameters. Especially with a higher OG brew and not pitching a starter. Chances are, if you had used a starter, you would have been fully active in 12 hours or less.
Wyeast recommends starters for brews over 1.060 when using the activator pack. If using their other packet, any brew needs a starter first.
Most of us use starters on brews above a low OG... Most of my batches have an OG over ~1.060, so the majority of the time I use a starter. So, about 90% of the time I'm using starters or at least pitching enough yeast into the wort to make a starter unnecessary (harvested/washed yeast slurry that's fresh enough to have a high enough viable cell count).
Proper oxygenation of the wort will also help to reduce lag time/phase in the batch. If you have ultra-fresh yeast, you could [possibly] get away without a starter if the OG is in the 1.060 neighborhood. BUT, it's better if you do use one.
IMO, getting into the practice of using starters, and proper oxygenation for all brews will only benefit you. Sure, there will be times when you just can't do it (spur of the moment batch, without enough lead time to make the starter work), but try to minimize those times. Also, don't do it for brews that are above ~1.065. Better to delay a batch a day to use a starter...