The disk that holds the C:\ volume may be too busy to allow the agent to start.
To verify that disk activity is the problem:
If any disk regularly exhibits a high queue depth, there may a problem somewhere. This could be because there are too many volumes on the same physical disk, the storage is simply not fast enough for the work it's trying to do, or some program (SQL Server, for example) it just very busy with an extended task. The solution will depend on the cause of the load. It may be necessary to put different volumes on separate physical disks, use faster disks, or move databases to their own disks.