long engine low idle periods are inefficient, and destroying! Also in Hawaii
. Mack Trucks recommend to warm up engines at 1000-1200 rpm. And how do you think excavators are warmed up? (OK, the hydraulic oil is important too).
However, many truckers still like to warm up at 650 - 700 rpm. From farm tractors, I can tell you there is a huge difference between warming up at low cold idle (850 rpm) and 1100 rpm. Also remember that if your are trying to heat your cab, while you are warming up, it will be impossible for the coolant to reach its normal temperatur (>175 F).
Try to imagen that you had a defective thermostat.
And yes, the coolant temp is not the only thing to be aware of, but the damaging phenomenon of condensation depends strongly on low sleeve/coolant temperatures. I read that Cummins wrote that coolant temps below 140F are damaging.
There is no question about that unnecessary idle should be avoided, but it makes sence if you have to enter harsh traffic environments, such as up-hill driving, high speed, urban stop and go, etc.
If you are able to drive and accelerate slowly, then you will be fine with 2-3 minutes of idle. At extreme low temperaturs it might be a good idea to idle a little more even before that gently driving.