I suppose that if one is starting their vehicle after sitting all night and within the next few second, merging into 70 mph traffic on a freeway, then some form of warm up would be in order. But most of us have at a least a little bit of driving at a reduced speeds on streets before hitting the big road. An engine will warm up faster under moderate power than sitting at idle. After maybe a minute, mine is going to go into drive and I am going to head out. If the cold is something really blistering in the morning, the get a block heater, oil pan heater, and maybe a battery heater pad. That would be better for your engine than starting at extreme cold on it's own. These items are not that expensive, use little electrical power, can be put on a timer, and take a lot of strain off of an engine at startup in extreme cold.