It all depends how warm or cold outside temp is. My car is always in garage which stays between +10 +20. Basically oil temp indicate pretty easily can i give it full throttle acceleration. Typically when outside is +20 like now i just drive it out to garage and shut doors then drive away and after couple of kilometres it is warm enough to give some boost.
If i drive car really hard and i know oil & water are real hot i usually drive little longer route to home that car cools down and then let it idle about 1-2 min max.

It is simple stupidy let car idle 5 min _every_ time you drive your car if you drive easily.
If people looking at you there is usually reason, i know how fucking annoiyng sound it makes when you try to sleep and some boyracer idles calibra with some home made shit exhaust next your house. Thats reason why i dont idle car in front of garage.

Amen