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Everything I've read says that newer engines (like last decade or two) only need a couple seconds. All the warming up for a minute plus advice was literally from carburator-era engines. Newer engines will be damaged from running cold far more than anything else, so it's best to give them a second or two and then drive to get them warmed faster. That DOESN'T mean to push the engine or red line it, but easy driving.
But I'm not a mechanic, just a super type-A scientist that looks into things at a semi-ridiculous level for the sheer joy of knowledge.
The few seconds is bare minimum, but you can improve on it. Again, if you live in a warm climate, this doesn't apply. I give my engine a maximum of 5 seconds of idle time in the summer too, because I know the oil isn't too viscous at those temperatures and I don't need to demist my windshield. But in the winter, you can tell from the sound the engine's making that it's not happy at -30C, even in a fairly new car with good oil. So you start off idling a bit and then start driving gently. I let it idle till I can see the mist starting to disappear from the windshield on its own, then drive real gentle - luckily I usually drive on low-traffic roads in the morning, so I don't have to gun it to the speed limit in one second to keep everyone else happy.
There is truth to the damage from excessive cold idling, which is why I don't recommend doing it too much on newer cars either - in direct injection cars in particular, I believe you can wash oil film off the cylinder walls with excess cold idling. But a minute or two is fine. We're talking about temperatures that people from warmer climates might consider deadly cold. Not just mildly freezing temperatures
Right. When I wrote my comment I just took -15C winter temps as normal. That's cold. 0C is a warm day half of the year.