I've always wanted mine to stay on all the time too.
The cruise button in the XT6 does stay on all the time unless I turn it off, don't see why it would hurt the cruise control unit, as long as it only had power when the car was running.
It'd be the same as reaching up and turning it on as soon as you started the engine.
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Huck
Subaru Ambassador
92 SVX LS-Tour Magnaflow Exhaust, 5-Spd-AWD 
88 XT6 AWD 5-Speed "Bride of FrankenWedge"
15 Impreza Premium Sedan
15 Crosstrek XV 5-Speed
My 5-Speed "How-To" Write-up
1976 Pontiac Firebird Formula
Current Count of Subaru's Owned.... "70"
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