I don't get the need to let them warm up before driving, driving them will warm them up faster. Let them get some temp in them before hammering down maybe I don't see why you shouldn't start and drive.
I have owned, or have had diesel work vehicles from the big three. I would say none of them get the mileage you see on the internet, and none of them are perfect. But they all have enough power to drag 40' 5th wheel travel trailers without wheels under them lol.
I do it mainly for the transmission more than anything. They have a built in feature that doesn't let them shift into 5/6 until they are above 140*.
This is just the way I have done it for years and this one has had zero powertrain or turbo issues.
Mine regularly gets 20mpg on the highway and has gotten as good as 22mpg hand calculated. It is EGR and DPF delete.