I give it a minute to warm up, then take off gently. More time if its really cold out. My street has no traffic, so I can take it real easy.
If I'm at a motel or some other place where there are no empty roads to drive gently on, I'll give it several more minutes of warmup.
My neighbor, on the other hand, just starts it and drives off like normal, heavy on the gas! They have an early-90s Lumina and it doesn't sound like its missed a beat.