I agree with Shmoe. If you look at any engine tests, wear is highest at low temps and gets progressively less as engine temp approaches operating temp.
With modern FI engines, an overich mixture at startup is almost negligible. Not like the good old days of heavily choked, carburated motors that washed away oil from an overly rich mixture. So idling a while is not going to cause damage from gas wash.
Dare I say it, but we are all spouting the line that car manufacturers are feeding us. Don't idle, just drive, idling is bad!
You have to look at the car manufacturers' motivation in recommending no idling. Engine longevity is not their utmost priority. Federal regulation is! And one of the major regulations is fuel efficiency. Idling cars make 0 mpg, so they tell us don't idle, just drive.
I don't warm my car up to operating temp before I drive, but I do let it idle 3-5 min before I drive. The warmer the engine is before you drive, the longer it will last.