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Pls try to add an event listener to the input and toggle the datetimepicker like this:
    DateTimePicker::create(array(
        "name"=>"startDatePicker",
        ...
        "onReady" => "function() {
            document.querySelector('#startDatePicker > input').addEventListener('focus', function() { $('#startDatePicker').data('datetimepicker').toggle(); }); 
        }"
    )); 
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