Modestly driving one's car at 1500-2000 rpm (20-45 mph) as soon as the idle speed is normal is far from "significantly loaded" or stressed out. The factory during engine stress testing, cycles that stone cold engine dozens or hundreds of times up to much higher rpms. Sitting there at idle in frigid ambient temps will take quite some time for the engine to warm up. The few times I had to do it, it must have taken 10-15 minutes to reach normal coolant temps.....and we all know the oil temp is lagging well behind that. I much prefer the 3-5 minutes it takes when driving moderately.