The thing about today's engine technology is that you need to warm them up as fast as reasonably possible without putting excessive loads on them. The issue is not really lubrication anymore. Today's synthetic oils are more stable on viscosity and flow much better on a cold start than the oils of 20 years ago.
So, my "opinion" is that you should start your car cold and allow 20 to 45 seconds for fully established lubrication flow; and then start driving the car, but not aggressively. By that I mean that you should not initiate any jack rabbit "launchs" or take on that muscle car next to you in a drag race. Just drive the car as you would drive your normal boring sedan. Do this until the temp gauge begins to climb off the peg.....then you are good to go. Once the temp gauge is off the peg, you are probably 3 to 5 minutes away from reaching the normal range for these engines.
So, what is the issue? Today's engines are much tighter than the 55 Chevies we used to drive. The bearings run tighter. The pistons are a tighter fit as are the piston rings......and so forth. So, the faster you can warm up the motor without abusing it, the faster the clearances open up. My guess is that you probably see more engine wear per crackshaft revolution on a cold engine than on a hot engine.....so, rapid heat ups should add life to the engine. That's my 2 cents anyway.
The second issue with a cold engine, is that to overcome the increased internal friction of a cold engine, the fuel management system "wants" to run a rich fuel/air mixture to keep the engine from dying. On a carbuerated engine, this was the function of both the choke and the accelerator pump circuits. The choke reduced the amount of air while the accelerator pump added more than the normal fuel to get you going. Today, this is done by computer (and much better, I might add!).
So, why is a "rich" fuel/air ratio an issue? Simply because it is possible to get the saturated atomized fuel to condense out on the "cold" cylinder walls. Once the fuel condenses on the cylinder walls, it runs down the walls and gets by the piston rings and then into the oil. As the fuel moves down the piston walls, it effectively dissolves any lubricating oil film that provides lubrication for the piston rings. Finally, any fuel that makes its way past the piston rings gets added to your oil and dilutes the oil and its ability to lubricate. This phenomina doesn't last very long........seconds to minutes at the most. And then, the fuel will vaporize as the oil heats up and move into your emmissions system. But, for this very short time period, your engine sees accelerated wear.
The bottom line to all this is that you want to warm your engine up as rapidly as possible without placing big loads on the engine. Since driving the car under light load creates much more heat than "idling at a standstill", you should drive it.
Sorry for the long post.