Instead of idling my car, I simply start it and put it in gear right away, but I do not touch the gas right away. It's automatic, so I just let the engine pull the car along without touching the gas for the first 30 seconds or so, while I pull out of my townhouse complex (I need to go over a speed bump anyways, so there is no need to be moving too quickly)
Then I drive through a small subdivision for a minute or two, giving it very light throttle so it's holding at around 1500rpm. By then, I have to pull onto a busy 50mph road, but usually am able to pull onto it and still keep the rpms below 2000. This is one of the nice things about having an LT1 350 which makes 325ft lbs of torque at 2400rpm (and probably 75% of that torque even at idle speeds), is that I don't need to give it a lot of throttle to keep up with traffic.
I truly believe that the gentler you drive your car during the initial few minutes after a cold start, the longer your engine will live. It's more critical in the winter, but it still helps in the summer (I do my same warmup procedure even when it's 90 degrees outside, since oil at 90 degrees is still going to be a lot thicker than oil at operating temperature)