this really depends on ambient temperature, my car is parked outside without blockheater ;-(
if it's colder than -40, it took me 10 minutes to warm up my old car *_* I'm not in a hurry
You don't have to wait that long, but be gentle to your gas pedal when start driving, you don't want to flood your engine with unburned gas and find yourself stranded on the road side waiting for the tow truck.
In general I wait until: rpm drops to below 1000 or the engine temperature gauge start to swing up from its rest. This indicates your car is usually ready to move with normal throttle.