yep.......With today's oils and filters you're much better off to start the engine, adjust the mirror, snap the seat belt, set the radio volume and drive.
Extended warmup is actually very hard on a modern car engine - as
STSS posted, don't try to outrun the Lexus until after 20 minutes of driving.......
FWIW, one of the absolute
worst things you can do to an engine in a car which is laid up for a while - more than 4 days - is to start it and let it idle until "warm", then shut down. Nothing gets warm enough to reach operating temperature and the inside of the engine fills with condensation moisture and blowby combustion acids. Turn it off and
leave it off (with a battery maintainer connected) until you're ready to drive for a while............