At least warm up for 1 min absolutely, or let the idle speed drop down to 1000rmp. It is better to see the temperature meter hand move up from zero point before you speed up to high way so that the engine has enough power to accelerate.
the reasons for preheating/warm up: 1. avoid extra friction caused in engine when the lub is too cold; 2, engine power will loose for accelerating when engine block/coolant is cold; 3. hot air needed to blow off the frost or fog on windshield and windows.
Any common or correction appreciated.