Wear is almost undetectable at steady, set, rpm when fully warmed to design temperature. Getting to that point, efficently, is the goal.
So long as oil pressure is up to par, then slow steady driving -- using as little fuel as possible to accelerate, and using l-o-n-g coasts -- is the usual "best" recommendation. Get into top gear (not overdrive), about 30-45 mph depending on road type. Assume 7-15 miles to warm fully the engine/transmission/differential oils, and a little further to get grease to same. Figure it will take another 7-15 miles to burn off accumulated water/condensation, acids and the like.
Short trips are, IMHO, not "10-15" miles or less, but anything under 30 miles. One has to "regain" [so-to-speak] the stability of complete operating temperatures AND low levels of corrosives.
To some degree, a smaller, lighter vehicle can achieve this more quickly, but it is more a matter of design and materials (as well as manufacturing processes).
On a weekend, prior to fueling and washing, I enjoy a highway spin to keep this margin in place in a low annual mile vehicle. Then, on to the short trips of shopping, etc.