Any modern japanese engine coolant warms up within 1 minute at max, at that time you are good to go
The way its seen in real world is that you obviously live in a resi area and have to get to a high speed road, it will take you about 3 to 5 minutes on average to get there, by that time you are already hot and ready to apply power from the engine.
So you start up, perform garage shift under 5 seconds (oil already has reached cyl head by 1 second), move vehicle and then perform mode shift to set off.
Now this wont apply if you live on a highway (RIP your life), just take it easy for the first kilometer then you would be upto full temperature to drive normally.
Make sure your drive is more than 20 minutes long at least to boil off moisture from the oil, if it isnt then change oil on severe usage interval.