>>28707035 (OP)
regardless of the time of the year or the outside temperature, i always warm up the engine by driving slowly and not going over 2k rpm until it gets up to the temp.
i never warm it up by idling. i hear that is worse than driving it straight away because the oil pressure on idle is lower and it doesnt lubricate top part of the engine as efficiently. exception is if it is covered in the snow, then i will start the car and turn the heater while i remove the snow/ice, but i do it for my comfort and not engine desu
my latest dd has auxiliary heater with remote control and, supposedly, alongside of heating up the cabin it also moves warmed-up coolant through the engine which helps it warm it up a little bit before starting it. not sure if that makes any difference or at all, but it sure is nice to enter a warm car. also it helps tremendously with removing snow and ice