Variations of this debate have been on here several times.
Here's my take, and this is coming from over 20 years in the auto repair business, lots of schooling on it, etc. Plus, a long conversation with a Ford engineer about this very topic:
Disclaimer: I'm talking your average mild climates, not Alaska or Minnesota in the dead of winter.
You do not need to warm up your engine at all. You have oil pressure and oil is flowing to every part of the engine by the time it fires up and you physically remove your had from the ignition key. It's that fast.
Today's engines have much tighter tolerances. Why? Because the metallurgy is so much better. They have tighter clearances, because the metals don't expand as much.
Yes, that means that there isn't as much expansion....which means that warming up your engine really isn't doing much. You don't have .005-.007" piston-to-wall clearances anymore. (that's a lot, for you that don't know) Older engines with forged pistons still have that much, because they expand, a lot. That's it. Newer pistons don't. They are TIGHT. There is not much in the way of piston slap.
That's why all these awesome new oils help come into play. They are so "watery", even at low temperatures, that not only does it allow the tighter clearances, but they don't "get better at lubricating" when the oil is warm, either.
That used to be part of the reason to warm your engine....the oil didn't flow as well years and years ago.
So, you had oil that got really thick when cold, and engines that had lots of expansion as they warmed.
Both of these are greatly reduced.
Again, I'd still recommend you warm it a couple of minutes if you live in North Dakota. But you probably have a block heater if you live there, anyway.
Anywhere with a mild climate, fire it up and drive away. You're just wasting gas sitting there.