Hi, you definitely should load packages with, e.g., library(tidyverse) every time you open your new project, but you for sure don't need to install them with install.packages("tidyverse").
The idea of packages is that you only want to load packages that you are actually using, not everything you have installed so far.
As for loading some packages automatically, take a look at this link. Keep in mind that it is not a good idea to load too many packages since your namespace will become bloated and you'll have many bugs that will take hours to debug. Usual pattern is to load only handful of packages (e.g., I only ever load magrittr package for it's pipe operator). Then you load extra packages as you go along in your analysis.