I warm it to the point the fins are hot to the touch- old habit.
It insures the lifter block and head seals have expanded sufficiently.

 

i have always let our bikes idle for a few mins (2-3).. thats just enough to get everything lubed up then i shut it down... during the warm up i will get my gear ready to put on, check the lights turn signals... then i put the gear on, by that time the cylinders are warm to the touch... since i ride with another person, we gear up i get on the bike, fire it up, double check with other and then the bike is ready to go

 

In 2014 HD put a tach of sort in the digital readout on the Road Kings. When I first start the bike, it usually reads in the 1300 range. Within a very few minutes, it idles down to it's normal high 900s to low 1000s. This is when I put it in gear and ride away. I would say it's within 2-3 minutes max. Long enough to make sure I'm buttoned up and put facemask and gloves. Then I just take it easy getting out of the neighborhood as it takes another minute or so for the transmission to loosen up a little when shifting.

 

You forgot to add "make sure the door is open" disclaimer.

 

Start it up. Zip up coat, if cold enough to be wearing one. Put on helmet and turn on sena smh 10. Pull on the gloves, select music, and off I go.
Take it easy till past the first light, then all bets are off.

 

Here's my .02

If a cold start, start the bike and let the oil go through the engine, about 30 - 45 second it seems. You may hear the engine note/sound change.
Then ride off and do not exceed 50% of rpm till temp gage (if applicable) comes up to temp and I guesstimate that takes five to ten minutes.

Plus, on the street, I find tires don't come into operating range for 10 minutes give or take.

If a hot start, I'd write you probably need just a minute before maximizing rpm, and again let that oil circulate before placing in gear.
Tires a mile or so to re-heat.

 

I've owned and rode H-D's since the mid-70's and back then the dealers encouraged riders to allow time for their bikes to warm up before riding.
That was with the Shovelheads (carbed of course) and even later on, I had an early EVO ('87) that developed a base gasket leak, which they claimed could have been caused by not allowing the engine to properly warm up before riding.


I (we) allow a short warm up time for our FI bikes, but I do have to consider my neighbors when on rare occasions I leave home early (usually for trips) so I leave as soon as I can and "chug" down our road (as quietly as possible) until I reach the county, paved road.
Even then, I keep the RPM's low for the first few miles before increasing my speed.

 

This time of year, temps in the 30's or 40's, I let the engine run a minute or two. The idle settles down a bit, then I'm off. The first mile or so is at slower speed, neighborhood streets. By the time I get to the highway, I figure I'm good to go.

 

With todays quality of multigrades oils, you don't really need to, but if a 15-30 seconds warm-up makes you feel better, do it!
It only takes 1 1/2 to 2 seconds to the oil to get in the upper sections of the engine.

 

Ohhh Yea.... ... Thanks for saving my spotless reputation...