Each engine is different.
My old 2-cycle Detroit doesn't need much of warm up. I have quiet electric compressor for airing up and in California weather I drive my coach few seconds after starting the engine.
My 2007 Powerstroke in pickup has electronic controls that even at 100F make the engine sluggish and will hold low gear for a mile.
I newer observe the warm up for moving. Just be gentle with throttle.
Even living in 4 seasons I would drive my cars right after starting even at single digits temperatures. Old carburetor engines would hesitate when cold and gas pedal was pushed, so I would start rolling on idle if the situation allow.
Engine under the load warms up much faster.
If you can't risk slow rolling with cold engine, turning headlights on while idling will speed up warm up.