You don't have to depart IFR when you file an instrument flight. If the weather is nice, you can depart VFR, have a bit more freedom in navigation, and then activate or pick up your IFR clearance while enroute.
This video shows you how it's done, including the IFR communication to use when doing so. It also shows how to get what's known as a "Pop Up" IFR, for when you don't have a flight plan on file and weather turn south.
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