Warm up at idle for about 30 seconds. Take it easy for a few minutes after that. I don't really ride all that hard anyway, but I never crank and go without some idle time.

 

As long as your oil pressure is up, you are ready to go. I wouldn't ride WFO for a few minutes, though.

 

Seems no matter how good my intentions are I am always a couple miutes late leaving for work.
so, I turn ignition on, start bike, as soon as the valve ticking quits from setting over night, and the idle drops off (about 20 seconds) I put it in gear and go.
I have a mile of gravel so only get about 30 mph there, then 15 miles of pavement to work, at 65 or sometimes a little spurt here and there to 70.
Last mile is 30 mph again on the base.
Never had any problems with any of my bikes in the last 7 years of doing it.