I think overshooting your saccarification rest by 10-15 degrees is the probable cause as well. Once when I overshot my temp significantly, I told my brother to quickly get some cool water to bring it back down to the right temp. He said, "isn't that like cooking an egg until the yolk is hard and then quickly cooling it down so it'll go back to over easy?". I didn't have an answer.
As long as your Wyeast yeast was a reasonably fresh XL smack pack that was fully plumped up when you pitched it, and the wort was really well aerated, you can get away without a starter in a batch of 1.042 wort. That said, since so much effort is put into a brew day, making starters is a really good practice to get into. Put another way, if you ever have a batch in the future where you don't hit your target final gravity, and you pitched a healthy starter and aerated it well, then you can eliminate underpitching as a possible cause.