As long as the oil has a chance to be fully circulating and you don’t tromp on it until it’s warmed up a bit, I don’t see why idling longer than 30-60 seconds is necessary.
The engine and trans will warm up faster by driving, and the driveline fluids and whatnot won’t warm up at all without driving.
The engine and trans will warm up faster by driving, and the driveline fluids and whatnot won’t warm up at all without driving.