As a generality, the more modern a vehicle is, the less idle time you need - as long as you're using the proper oil specified by the manufacturer. Proper oil weight especially.
The reason so many modern gas engines use 0W-something oils is because the thinness of that oil gets it distributed quickly throughout the oil system when it's cold - whether that's extreme environmental cold, or just an engine that hasn't been running that day. Oil naturally flows down with gravity when at rest, and away from the friction/bearing surfaces of the motor. So getting it distributed as quickly as possible at startup minimizes the metal-to-metal grind. This is exactly why startup is one of the top two periods where a motor experiences the most wear.
The problem here is that as that 0w oil heats up, if it doesn't have any other kind of additives or engineering, it'll continue to get thinner and thinner, down to the viscosity of water. And the thinner it gets, the worse it gets at lubrication. At best, it'll simply do what honing oils do on whetstones: help transport worn metal particulate away from the friction surfaces.
With modern multi-weight oils, as the 0W heats up, it also thickens up - it has additives in it that are tightly wound long-chain polymers that, as they warm up, they unravel and expand, thickening the oil to a heavier weight as they do so. When you have a 0w-30 oil, for example, the best way to read it would be something along the lines of "Acts like a 0 weight oil when it's cold, thickens up to how a 30 weight performs when it's at operating temperatures."
Before these oils were invented, people had to just run heavier "straight" oils in the summer (because it thins out when it gets hot), and a much lighter oil in frigid temps, just to have oil that was actually liquid, and not acting like frozen honey. In both cases, it resulted in far more engine wear - the thick oil doesn't get to the moving parts fast enough at start-up, and the thin oils don't lubricate well enough once warmed.
A key reality and concept to understand in all of this, is that motors need to have oil at the right viscosity to get the moving parts into what's called the "hydrodynamic lubrication" regime, which is where the parts essentially hydroplane on top of the fluid film, not touching each other at all. The lighter the fluid, the faster the parts have to go to stay on top of that fluid film, just like how you need a certain minimum velocity to get on top of the water when water skiing. This is also why stop-and-go traffic is the other major area where cars experience the most wear-and-tear, besides startup.
The multi-weight oils cover all this - they get oil quickly to bare metal on start-up, then rapidly thicken up to the proper weight that motor needs in order to have its parts running in the hydrodynamic lubrication regime when at full operating temperatures.
All this is a big part of why you don't need as much warm-up time with modern cars, and why higher idling speeds are useful when warming up a very cold engine - and why those automatic idling RPMs go down once the vehicle warms up.
Bottom line for me on warming up modern cars: don't just hop in and go, give it a couple of minutes for that oil's temperature to rise.
For carbureted motors, the engine should be at full operating temps if you don't want it cutting out on you when you try to accelerate.
If we're talking temps below -40F, I'd also strongly consider warming any vehicle up to full operating temps while under a car cover (just be careful of the exhaust pipe) to trap that warm air - specifically to also warm the lubricants in the differentials, bearings in the drive train, and to get the tires up to a more pliable temperature.