When I still had my 240sx, in the dead of winter and especially in the occasional sub-zero temps we would see around here, I had a BITOG mind blowing game of scraping the windows, then hopping inside and putting it in neutral and trying to start it and get it into drive and get rolling before the oil pressure light went off. Was never actually quite able to do it (M1 0w-40 for the win) but was probably within milliseconds or so. Even at that, other than a little stumbling and sluggishness for the first 5-10 seconds it ran fine and somehow didnt blow up. That poor car had 75k miles when I bought it and had close to 400k when I sold it to my daughter's coworker who drove it for almost another year after that. Didnt burn a drop of oil and ran great.
All this unlike my old neighbor who would, every morning like clockwork, go out and start his truck and let it idle 15-20 minutes, even in summer, every day before leaving to work.
Needing to clear ice and frost from the windows, or simply wanting the car to be warm when you get in, are perfect reasons to warm up a car. There arent really any other reasons.