RuxC, congrats on the new car!
Myself, in the same type situation(driveup window), I like keeping the engine warm. In the summer I may/may not turn off the engine but in the colder temps, I'll keep'er running!
Well they have all these new cars and hybrids that are "stop/start" where the engine shuts off at stop lights and what not.
As a result, I would assume stopping/starting a warmed up engine is not a big deal.
The way I understand it(Hybrids) is that these type of engines that start & stop frequently are designed to do so, "differently" than our normal combustion engine. I can't answer as to how they're different. Maybe someone in the know will chime in on this in particular.
Engines isn't something that I have ever had issues with in any of my vehicles wheather letting them idle for long periods of time, or starting/stopping...Ever! And this includes engines with several hundred K's of miles in vehicles into their teens(close to 20 yrs old). Well, I did have some issues with my '68 BUICK!
Although I try not to do this, in many, many occasions, I've let my engines idle in the driveway in the winter time for close to an hour while cleaning the snow from the driveway/steps/walk and have forgotten the cars were running, especially cause the snowblower was running too...OOOPS!
And I have done so many short trips(winter/summer) jumping from store to store, bank, fast food drive window, quick visit to a friends house or several friends/family etc. It was actually the starter I'd was more concerned with. I can't even count the startups I made on those trips. Never worry!
ruxC, if MPG is your concern, I hope you bought a car with good MPG/EPA rating to start with! The Elantra in your signature seems to be on the right track...

I've had vehicles with 340,*** miles on'em @ 18 yrs old and if the engine wasn't running @ optimum, it was related to vacuum or fuel system and I may not been able to cure/find it and at that point, I didn't care anymore! But the issues with any of my older high mileage engines WERE NOT due to long idling or lots of startups.