I'll weigh in on this topic as a North Dakota native and engine guy.
The "best" practice is to start the engine. Do you have oil pressure? There is a rough ratio of time to build oil pressure (from cranking) to time where oil has reached all the rest of the engine. It's around 5:1 on the upper end. So if it takes one second to have oil pressure in the main oil rifles, you'll have oil at the top end and everything else within 5 seconds. This is true even of the massive 95L V16 QSK95 Cummins makes, which has oil pressure at the mains in under 2 seconds even on a cold (near freezing) start .
Which means that after 5 seconds or so, the engine is not receiving any more oil or any better lubrication. There's no advantage to further idling in terms of engine wear reduction because you're already in full elastohydrodynamic lubrication (let's call it EHDL, please).
IN bitter cold temps with marginally suitable oils, it might take 4 or 5 seconds to have oil pressure at the main rifles. Which means it could take as much as 25 second or so to get oil to the top end and all the rest of the engine.
So, regardless of ambient temperatures, idling more than 30 seconds is not beneficial if you chose an oil that is remotely appropriate for your local climate.
Engines make more heat at higher rpm and with some load on them. That's pretty obvious. It's also obvious that your engine will warm up faster then if it has some load on it (i.e. driving) instead of idling.
Elevated RPM in a cold engine is your friend, within reason. Keeping it around 2000-2500rpm assures good oil pump output, good coolant flow (and heat distribution) and it also reduces wear at the top ring reversal.
So what is "ideal" is cold start, idle no more than 30 seconds, then take off driving gently (mild throttle) but allowing the engine to rev to keep engine torque low.
Now, if you idle longer to scrape window or whatever, you're not really hurting the engine by much of anything measurable. It will shorten oil life and that's about it.
Use a really good high viscosity index oil with a nice dose of Moly, a pour point at least 20 degrees lower than your coldest start, and a cranking viscosity under 6000cP at your worst case start. Then get on with life.