I called half a dozen mechanics across half a dozen states and got recommendations that ranged from 0 seconds to 10 minutes.
How often should I start my car in the cold weather? Mechanics
How to Drive in Icy Conditions, winter auto
Do you need to warm up your vehicles engine in the winter?
5 tips to help you warm up a car faster - Canadian Super Shop
How Long Should You Warm Up Your Vehicle?
Wait, it's NOT a good idea to warm up your engine when it's cold out?!
Start your engine, but don't idle too long
Winter Is Back, but Don't Idle Your Car
Driving Tips for Winter in Indiana
The Science Behind Winter Driving, winter auto
Let there be heat: How long should you plug in your car, car plug