Rule of thumb with a semi, we plug them in when temps stay below freezing and idle them when temps are below 10 deg F.
Unless temps stay below freezing I would not worry about it. I've always just run the winter blend and never had an issue in 19 years.
One time I did not have a plug-in so I left my big truck unplugged for 2 weeks with single digit temps. Gave it a shot of engine starter fluid (on the air filter) and it started. Took a while for the idle to smooth out but once the engine came back up to temp every thing was back to normal.
Now if we are talking a pickup diesel with glow plugs just give them a minute to do their job and it will normally start. If I lived in MN, I'd plug it in.