Yes and no? Cars prefer to be warm before being pressed hard, everything at proper temp. Thing is, driving gently goes a long ways to warming up faster--and idling a car does nothing for heating up say wheel bearings.
My old '99 Camry needed a good 30 seconds of idle before it would properly go into drive after sitting overnight, worse when cold. Something internally was leaking down... but at its age, 30 seconds of idling while buckling up, getting the radio right, etc was hardly much of a cost. Worse was the morning sickness that the steering rack had, in cold weather it would moan and eventually run out of juice--but after 5 minutes or so of driving, it apparently heated up enough that there wasn't an issue after that.
What others have said is true, ATF getting heated by coolant (or vice versa), torque convertor lockup is locked out until a certain temperature, overdrive locked out, etc. For the most part, just get in and drive, it'll take care of itself for you.
My old '99 Camry needed a good 30 seconds of idle before it would properly go into drive after sitting overnight, worse when cold. Something internally was leaking down... but at its age, 30 seconds of idling while buckling up, getting the radio right, etc was hardly much of a cost. Worse was the morning sickness that the steering rack had, in cold weather it would moan and eventually run out of juice--but after 5 minutes or so of driving, it apparently heated up enough that there wasn't an issue after that.
What others have said is true, ATF getting heated by coolant (or vice versa), torque convertor lockup is locked out until a certain temperature, overdrive locked out, etc. For the most part, just get in and drive, it'll take care of itself for you.