I typically have little to no warm up time in the winter. However, I do try use the block heater anytime the temperature is less than -10 C (on a timer, for approx 3 hours). If the vehicle has snow on it, I will start it, clean the snow and then leave. This usually amounts to about a minute or so of idling.
The only time I purposely warm up the vehicle for any length of time is when it is very cold. Anything -30 C or colder, and I will allow the vehicle to warm for about 5 minutes (never more than that though). I do this to help let the oil circulate before I put a load on the engine, and to help other components warm a bit. At these temperatures the power steering gets stiff and the transmission can be slow to engage on some cars (our Civic's transmission is very slow when cold). This week we had four mornings where the temp was approx -40 C, and that is just TOO cold to start and drive instantly.
Under both situations (no idle in warmer temps, and idling in colder temps), I always drive gently until the temperature comes up. I won't drive the vehicle hard until I see the oil pressure drop to normal (so I know the oil has warmed up to normal temps).
As a side note, most of my co-workers warm their vehicles for 20-30 mins in the winter. They want a warm car before they even start to drive.