Check your car's manual... most manufacturers recommend just a 15 second "warm-up" before driving off.
Idling a cold engine can lead to a faster carbon buildup in your engine. A combination of a high fuel-air mix at idle plus a cold engine isn't good for the environment also.
If you concern is about better (or overkill) protection - switch to semi or fully synthetic motor oils. A second after staring up your engine your motor oil would already have lubricated already all moving parts properly.
As I've said - the proper warm-up technique for a cold engine is a 10-15 second idling period then drive slowly for the first few kilometers / minutes.





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