This is what the experts say so I guess it would all be in your choice. The experts say you do not need to let your car warm up, just drive it easy for a few minutes. Myself, if real cold I like to warm up the car a little before driving.
Warming up just wastes gas. You want to get it to operating temp ASAP by driving it. Then it goes off of rich mixture faster. But take it easy for about the first minute so the oil can reach all the internal parts.
The Car Talk guys said that letting the car idle to warm up is no better than gently driving it.
don;t idle for too long - it can damage the engine - a 2012 shouldn;t take long to warm up
This morning was 17 outside and I was running late so I hopped in a drove away. I didn't push it too hard so It didn't seem to drive weird or anything. Plus my car won't let me lock the doors with it running. Its smart but I hate that it does that. Its kinda new its a 2012 if it helps.