I always give the car 5-10 mins of warming up only because literally EVERYONE says you have to wait until the temperature hits like 180 before driving -__-
That's ideal, but I bet 95% of people don't do that. Typically, unless it's really cold, I give my car about 2-3 minutes, then just take it easy until it warms up to where I can see it's 160 or better.