Since the transmission fluid wont start to warm up for a very long time I start the car and get my glasses on, seat belt buckled and adjusted and leave.
Carefully backing out of my spot, driving out of the compound and waiting at the bottom for cars to pass, and slowly going down residential streets with stop signs to a light...
If you keep the car under 2k rpm it is better for you to be moving unless you have an on ramp very close to you.
I'd rather warm up waiting for a red light that you'd need to do anyway.
The water jackets in an aluminum head allow the surrounding coolant to heat up VERY fast as it is held back by the thermostat anyway. So your combustion tolerances are in check very fast.
I use synthetic ATF (DW-1) so the shifts are very reasonable right away (the 1-2 isn't sluggish), but on a very cold day 2-3 is a bit rough, as the computer is calibrated to deal with thicker fluid at that temp I'm guessing, not the thin synthetic I have in there now (originally the car had the older Z1 fluid).
In the engine I use 0W20, so the engine turns over very fast on very cold days even with a very low CCA 151r battery (almost a motorcycle battery in size).