I received my 16-inch M1 Pro yesterday. I ran the battery down to 74 percent, turned it completely off, closed the lid and attached the 140 watt adapter to the MagSafe port. The amber light flashed briefly once, there was a sound that you hear when plugging in an iPhone (not the Mac startup bong), and the amber light then remained on with no flashing. After a couple of minutes, I opened the lid and it automatically booted up.
I haven't updated to 12.0.1 and I've turned off the startup bong, in case that's relevant.