I have done some more digging, and I have found this piece of documentation that suggests I cannot do this at all.
Currently, the interior-point optimizer in MOSEK cannot take advantage of a previous optimal solution, however, the simplex optimizer can exploit any basic solution.
Yes, the intended syntax for this is set_start_value.(Z, warm_start_value), but Mosek doesn’t support setting the start value of a PSD matrix variable.
For set_start_values(model, variable_primal_start = warm_start_value), variable_primal_start needs to be a function that takes the scalar variable and returns a Float64 start value. But it still won’t work, because Mosek doesn’t support setting the start value of a PSD matrix variable.