When we bought our home, a two car garage was one of the priorities for this reason. The wife and I can comfortably park in the garage and not have to worry about getting into a cold car in the winter. It was -5*F this morning, 35*F in the garage.
If however we have to park outside for some reason (friends house, parents house, etc.), I will let it warm up for a few minutes so that the seat warmers and heater can get the cabin a bit warm, I'd say it idles for 10 minutes max. If we're at a restaurant for instance, I'm not going to walk out to start the cars and go back into the restaurant, we simply start it up and go making sure to keep it easy until we get up to OT.