What your instructor taught you was what mine taught me as well,
but I find it slow especially when you're on a slight slope. By the
time you rev to 2000rpm, you're be rolling down the slope, and
might hit the car behind you.
Thats why on consecutive lessons, I learn to release at
half-clutch immediately before moving off. This is not an overnight
skill, you need to practise it for a few lessons before getting
used to it. This is why i still stall certain times, but after
praticing, you'll be fine!
So right now whenever I'm driving a manuel car, I'll release to
half-clutch before stepping on the accelerator.