Fast idle and my steep driveway are a bad combination, so at home my beast gets warmed enough to idle normally before I drive it. That's true, too, anywhere else crawling in low 4x4 is needed to get around. Out and about where idle speed is not an issue, I'll be sure of oil pressure then go, warm or cold.
Idling the work truck while I do the walk-around, update paperwork, and build air pressure is all the warmup that one gets.