To illustrate why first going into a parking orbit costs energy over a direct escape trajectory, consider the following thought experiment.
Imagine that the earth, instead of being a solid/liquid sphere, consists of a thin hollow shell with the earth's diameter plus a infinitesmal black hole at the center containing the earth's entire mass. The space between the shell and the black hole is a vacuum.
Imagine strapping a rocket on your back, opening a trap door in the earth, and jumping in. You do this from the equator so you start with the earth's eastward equatorial velocity of 465.1 m/s.
About 15 minutes later you would reach periapsis with the black hole at a radius distance of a little over 11 km, moving tangentially at a little over 268 km/sec.
Now you fire the rocket on your back in a prograde direction (to boost your velocity). It's a really puny one, with a delta-V of only 233 m/sec.
As you climb away from the black hole on your return to the surface, you will of course slow down again. Assuming you have planned ahead and made arrangements for someone to open a trap door for you in the proper location, you will fly through it with a velocity of 11,186 m/sec - the earth's surface escape velocity.
You will then fly off into space, never to return.
Imagine -- escaping from the earth entirely with a delta V of only 233 m/sec. If you wanted to remain in orbit, you'd need even less.
What this really says is that the most energy-efficient way to escape the earth is on a hyperbolic trajectory with a perigee as close to the earth's center as possible. Since, sadly, the real earth is unreasonably dense even if not completely solid, you will have to fly a less energy-efficient trajectory from your surface launch site to your departure hyperbola, joining it at the first post-perigee point above the amosphere. Your subterranean perigee is then of no consequence since you won't be coming back to fly through it. But if you are required to complete one or more parking orbits before departure, then a subterranean perigee is a definite problem. You'll have to spend some of your launcher capability on raising it to a safe level -- capability you would have preferred to spend on raising your apogee.