When cold starting mine I don't let it idle very long. I use the voltmeter as an indication that the glow plugs and intake grid heater have shut down (they are both activated for a short time after a true cold start to provide smoother running and to meet cold start emissions standards). Although the increased idle works well as implement in the Duramax to heat it up it is still preferable to get it into gear and drive it moderately as quickly as possible for the best engine warm-up. When cold start increased idle is enabled a few seconds after start the engine will begin ramping up speed and at the same time the transmission is used to load the engine while the turbo exhaust side variable vanes are used to restrict exhaust. This does allow better warm-up than just idling but getting it in motion is still preferable.
Note that if you are in a very cold climate (like northern Canada) you will want to use an Allison Spec TES-295 fluid in the transmission to avoid possible transmission damage that can occur when using the cold start strategy in unusually cold (far below 0F) temperatures. A TES-295 spec fluid rather than what GM puts in from the factory is best for the Allison 1000 and required under certain operating conditions.