Transmissions do get sticky when the gear oil is cold. So relax, no need to panic thinking something is wrong with your vehicle, and you need to claim it under warranty.
This will not fix the sticky issue because idling only warms the engine, not gear oil. In order to warm up the gear oil, you have to drive it for a couple of kilometers. It's best not to idle that long. Start the vehicle, let the engine rpm settle down. It may take 30 sec to 1 min max. Then start driving, but don't push it until the blue light goes away.
This sticky behavior is more noticeable when the gear oil is thick. Honda in Pakistan is using old obsolete gear oil in Pakistan for manual transmissions. Honda do have new thin gear oils worldwide but not available in Pakistan. I highly recommend using Amsoil. One of our forum members @roony used it and gave update after 900 km of use