I've often heard up here that you should start it, and start driving (easy) as soon as it's running smoothly. With my DMAX, that is right away. Doesn't hurt to scrape the ice off for a couple of minutes so you can see!!! By using winter front, the warmup is quicker driving than idling.
You can extend the engine life a lot by not putting your foot down for the first 10-15 minutes. Meanwhile, the tranny and differentials are starting to warm up as well.
The wear and tear idling cold (slow or fast - while you're not getting anywhere) is almost as great as driving easy, and by starting right away you're getting some mileage out of those engine hours!!!
Best of all is to keep the truck in a heated garage.
Second best is to use the block heater for a few hours before starting.
In any case, try to drive for at least half an hour or more every few trips so stuff can warm up and dry out properly.