Well there you go,
I don’t believe that not preheating the filaments, before turning on the B+ causes undue harm at moderate voltages.If the point is avoid "cathode stripping". One mistake like yours and you have subjected your tubes to more stripping voltage then they would see in many lifetimes of instant on use.
That said, I would check the bias and keep a close eye on them for a wile to make sure that say, the heater cathode insulation or something was not damaged.
Has there service life been reduced? Time will tell…John