After you figure out what a short trip is, figure out if driving a vehicle for the sake of driving it is better than letting it sit. Then figure out how frequent you need to take drives to maximize the advantage of said drives without the added unnecessary wear counteracting the advantages of those drives.
One the f-150 it has a temp gauge for the transmission fluid. I figure everthing else is up to temp by the time this happens. In the winter this can take a while.
Before I retired my last job was exactly 11/4 mile from home to a WalMart DC, on my days off I would take the truck on a 15 mile round trip cruise to clean up the oil.