I would only drain oil cold in a car that doesn't run, or that has been sitting for more than six months, or that is being stripped apart for scrapping. Otherwise I'll make good use of the highway run to warm it up to pick up any additional supplies I need (more oil filters, more oil, wiper blades, air filters, paper towels, hand cleaner, whatever).
I will drive home, stop the car, pull out all the stuff I need, lift it, jackstand it, throw the pan under and pull the filter, wipe the mount off, pull the oil filler cap, and then slide over the pan and pull the drain plug.
While the engine oil drains, I can be putting a half quart or so into the filter to let it soak in, then stick it on the side of the motor in the Torino. On the Ciera, I can fill the filter to the top (AC Delco PF47 takes a shade under a full quart) because the filter installs perfectly vertical on that 3300 with the remote mount. Then I can put the drain plug back in and put in the remaining amount of oil needed (about 4qt for the Torino, 3qt for the Ciera) into the filler hole.
Put the lid onto and slide the catch pan out of the way, drop the car off the jackstands and fire it up, check the oil pressure (Torino when it stops knocking and the oil light goes out, Ciera when the oil pressure gauge jumps up to 60 or so), then shut it down. Wipe off the dipstick and check the level, top off if needed. Write down the miles, date, and amount of oil used on the top lid of the filter box and toss it in the glovebox. And every so often, make another trip into town to turn in the used oil and a handful of filters.
Changing oil isn't hard. But I took the time to write all that out because that is how I do it hot, it's how my dad did it, it's worked pretty good so far. Some people might be able to complete all of the necessary tasks on a cold engine. More power to them. I feel a hot motor is better for this because more circulating dirt will drain out rather than settle. Is it absolute? Probably not. But it's a good placebo.