~/.zshrcに１行追加
.zshrc
[[ -z "$TMUX" && ! -z "$PS1" ]] && tmux
参考
zsh起動時にtmuxやtscreenやscreenを起動する - Humanity
補足
screenも併せて使いたい場合の注意点
[[ -z "$TMUX" && -z "$WINDOW" && ! -z "$PS1" ]]
とやっておかないとscreen起動時にもtmuxが起動してしまいます。
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