I like to idle until I reach "operating temperature" before driving, which for me is 183. If I can't do that, I at least wait for the RPMs to settle as others have mentioned, and try to keep the RPMs low while driving until it heats up a bit more. This is all in regards to internal engine component wear. The computer also takes into account coolant temp for fueling adjustment.

In reality, as long as you're not flooring it from a cold start, you'll be alright.

 

The Deputy, thanks for the heads up on the camshaft. I'm usually thinking about the forces on the bottom end.

 

I just start it up, wait 5 seconds and drive off. I usually take it easy and keep the rpm's below 2500 or so for the first couple of minutes. I don't think there is any cars recommending any warm up before driving off any more.