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Thus, the best way to warm up a car is to drive it moderately for several miles within 10 seconds of starting the engine. ...
Second, people comment about the need to warm an engine in extremely cold weather. Again, there is truth in this point.
However, in all but the coldest weather, 30 seconds of idling will normally warm the engine block and circulate the oil sufficiently. In cases of severe winter cold, as many northerners know, an engine block heater is by far the safest and most economical way to heat a very cold engine
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Anti-Idling Primer: Every Minute Counts
I could not find an article but I was once told that excessive idling will prematurely wear the catalytic converter.