Originally Posted by SouthArk370Z

As per HEK, I wait for fast idle to quit and then go. I'll drive easy for a mile or two before opening up the throttle.

I will let it warm up for a few minutes (until heater starts working) if I'm feeling particularly cold. But that's for me, not the engine.

Edit: That's not just for Zs (I drive a Challenger now) - applies to all modern cars.