I remember reading a technical article about whether to allow the car to idle or not and the pros and cons many years ago written by a very learned technical guru.
His view is not to let the engine idle to warm it up. That is one of the worst things you can do with an engine. The engine runs richer when cold and idling makes it take longer to warm up, all the time the richer mixture is washing the oil off the bores increasing wear. According to tests, over 90% of engine wear occurs on cold startup.
The best way is to get in, drive off and keep the throttle openings small and revs low, without labouring the engine, until there is some temperature in the engine. This is the most effective way of bringing the engine up to temperature, under load.