If you have to pull out of your driveway onto a 55 mph highway, I would say give it a minute or two driveway warmup. But normally you do not want to sit and warm it up. Drive off immediately on slower streets, if it is extremely cold, drive around in the neighborhood a couple minutes, but otherwise you can hit surface streets at 40 /45 mph pretty quick, just be easy on the throttle, don't gun it or floor it. I usually go down my street, about 1/4 mile to a 35 mph street, another half mile on that to the freeway and then get on gently but not so as to hinder traffic. Never have any problems with that routine.