On the rare occasion that our temps dip below freezing (two months a year, if then), I let my cars idle for maybe another 30 seconds. That's beyond the 30 seconds I give it the rest of the year: starting, putting on my seat belt, turning on the radio, etc. My first two miles are not difficult in any case. But right after that I jump on the GNO bridge, which has a relatively steep incline, and I need to rev the car some (~ 3K rpm) to keep up with the crazies.
Even in cold weather, though, the coolant gauge is up to the midpoint and the vents are throwing heat by the time I reach the bridge, so I'd guess the 5W-30 oil is getting where it should be as well.