In the summer, I walk to my truck, open the door, lean in, put the key in, start her up, stretch for a few seconds outside the trick (mind you, this is at like quarter to 7 in the morning, and I work a labor heavy summer job), hop in the truck, throw on my seatbelt, get comfortable, adjust the radio, and then I go. So, that's probably between 1-2 minutes of letting her warm-up.
In the winter, I trudge to my truck, hurry up and get the **** inside and close the door as fast as possible, ram the key in and start it up... and sit their shakin' in my boots, putting on my seatbelt, adjusting the radio... and then I get tired of waiting for it to warm up and just go.
When the outside temps are below freezing, and the windchill is in the negative teens (Fahrenheit, mind you), I have the mindset that I don't really care as much about letting it warm up, I just want the friggin heat now! Lmao!
edit: slightly related - one time when the windchill was like -20*F, when I started my truck up, it turned over and shuttered around 500rpms for 2 seconds and then rev'd up to the normal cold start range (~1500 to 1700 rpms?).