I just wait until the rpm's settle and drive slow until oil temps start rising.
For example I drove in to work today and morning temps were 33 degrees. I let the car idle for about 45 seconds until the rpm settled and kept it under 4k until engine temps reached 180. Only took about 5 mins.
When its warmer I do the same, but obviously the oil temps will reach 180 a lot sooner.
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BMW 340i
Jeep Cherokee Trailhawk
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