And the same goes for me. But, I start driving after max. 2-3 minutes. 
I am unable to wait for 5-7 minutes
although, I personally believe that its best to start driving, when blue light has gone and engine has attained its normal, optimum working temperature. 
I think, if you ask the OEM, the car and engine manufacturer, "on-the-record", he will also endorse this! 