The only first round picks that should sit during a rookie season are Quarterbacks and Left Tackles. The left tackles only because your most expensive player's blindside is in their hands.
Note: there is a subtle distinction between the terms "sitting" and "not starting". I don't even know if the term "starting" is relevant anymore with all of the situation specific packages and rotations. To me, "sitting" means that the only package you belong to is kickoff coverage. I don't want my first round pick to exclusively be a kickoff coverage guy, although that is a level higher than healthy scratch.
I would expect Brooks to be in the starting rotation by mid season or would otherwise consider him a disappointment. Collier of last year is an example of that. First round picks should not be healthy scratches. You make room for talent. You even move other position players around to make that room.
Additionally, I don't put this on the players. The folks that manage the draft are reaching if they can't get a healthy first rounder that can significantly contribute in their rookie season. You can get your freak athletic projects and injury comebacks in the second round but first rounders need to be on the field, making a difference.