If you do a start task a number of times, when one task ends and a nother is started, does the one that ended stay out there and get reused, or ...

does it completely go away and another one is started up at the next start task?

A "task" is not the same thing as a thread, which is the OS-dependent executor that runs the task. Tasks are temporary, and end when the executing TOOL code terminates. For example, when the task that is created by "start task" terminates, then that task is gone, done, finished.
However, the thread that executes the task does not go away. Threads are re-used. In your example, of doing three consecutive "start task" commands, they may run on one, two or three threads, depending on how quickly each started task gets completed. If the tasks finish very quickly, then it is possible that all three will run on the same thread. If they are all running for a long time, then they will require three different threads. When you issue a "start task", the UDS runtime will check to see if a thread is available for use, and if not, it will create a new thread for the task.
If a started task is in a wait for something, then it may or may not keep a thread in use. It depends on what the task is waiting for. For example, some database interfaces require UDS to keep the same thread assigned to the task while the database API calls complete.

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