Some folks seem to have a difficult time remembering what Peter stated, and proceed to misquote him.  Please reread:
"Even in extremely low temperatures, most fuel-injected cars can be driven away less than 30 seconds after start-up. The best way to warm an engine is to drive away as soon as possible and keep the load low until it reaches ideal operating temperature. Accelerate gently and use small throttle openings. Driving loads the engine and warms it more quickly than extended idling."