You got it. The engine is best served by starting it up and using it under a moderate load once it's up and running with the oil pressure stabilized, etc., which is a matter of seconds typically.
Idling the engine after a cold start is harder on it than using it. For most motorhomes especially (and a great many modern vehicles in general), the engine is never going to wear out before the rest of the vehicle, so doing everything humanly possible to prolong its life is perhaps a bit unnecessary; but idling when you aren't going anywhere also wastes fuel and serves no useful purpose, so avoiding it when practical is a good idea regardless.