That is true, in my manual it says to slowly drive to warm the engine up. Every car I've ever had I always let it idle until the RPMs dropped to below 1K before pulling off.
"Freezing TX winters"?!? I went to college in Pittsburgh and lived in Denver before moving here. You're from Houston, right?
http://en.m.wikipedia.org/wiki/Climate_of_Houston#mw-mf-search
The Climate of Houston is classified as humid subtropical. Houston's warmest month (on average) is July at 94.4 °F (34.7 °C), and the coldest month being January at 53.1 °F
50's. Brrrrrrr