There is no good reason to "warm up" the engine. That is a left over from days past when you had thick oil and cast iron blocks with aluminum pistons that had to expand and conform to the cylinders and for that old thick oil to thin out and circulate properly.
The best procedure is to start the engine but just take your time slipping it into gear. Note that the computer will not let it jerk into gear now, there is a programed delay for good reason. Then there is the oil, its 0W-20. Even when"cold" it will flow nicely. Also, the oil is made to "stick" to parts so that moving parts do have lubrication on start up. The oil pressure builds very quickly having oil to the parts even before the transmission is allowed to shift into gear. Driving "reasonably" as you first take off is always a good idea.
I spent over 40 years looking inside more engines than many will ever see. I worked with the engineers that designed them, the technical people who tested them in the dyno rooms and the field service people who repaired and serviced them. If you want to waste money and do no good for your engine then you start it up and let it sit there and idle for ten minutes. Its you car and your dime but you really aren't helping anything. Not the air, not your pocketbook and not the longevity of your engine. Why do you think new car engines today routinely go 200,000 plus miles without issue?