When I warm up my cars, I wait until the car gets to normal idling speed and then head off if that's what you mean, which is still warming up the car...
On most modern cars there’s normally two phases of cold idle. The first phase (20-30 seconds or) so it will hold the idle over 1000rpm which is mostly done to warm the catalytic converter up quicker to reduce emissions.
Once this phase is done but it is still idling a bit higher than the fully warm idle it’s fine to drive as long as you don’t rev the engine excessively.
It’s actually fine for the engine basically two seconds after you start the engine (once correct oil pressure is sustained). The main concern I would have is the transmission if you’ve got an automatic as you’re shock loading the transmission by shifting it into gear while the engine is idling over 1000rpm.
It’s the cold
starting that does the damage to the engine, not running it while it’s cold. Once the oil pressure is above about 6psi basically no engine damage can occur.
Because the engine bearings float on oil using the pressure from the oil pump then provided the oil pump is doing its job correctly the bearings can’t touch each other and wear out, at all.
That’s why taxis get a million miles on them without an engine rebuild, because they hardly ever cold start so the bearings are almost never touching each other to be able to wear out.