Best IMO to pull out moderately within one minute of start up. This is the best way to warm up an engine. Wait for the temperature gauge to move up some before you punch it.
By all means if you have a turbo let it idle for a couple minutes if you pull to the side of the highway. But if you are cruising moderately to the campground the turbo has cooled by the time you get to the check in office. Certainly no need to idle an additional five minutes after parking in your spot.
Any good mechanic will tell you the same. Or refer to your owners' manual.