Everything I have read since about 1965 has said that you want an engine to get up to normal operating temperature before you shut it down. And I know for sure that my 2013 F350 takes a solid 30 minutes to warm up.
Watch your gage needles sometime. Switch the Driver's panel to the page that shows the actual oil and trans temp readouts (Ford) and notice how long it takes to get up to a normal temp (mine is about 195 for both).
These things are built to work and tow and have cooling systems to match. And yes, I do know what a thermostat is.
If I had a short daily commute with my truck, I would at least take it for a one hour ride on the highway every Sunday.
Tim