No again. It's -12C (10F) here this AM and it's often much much colder. Cars get pretty stiff at -30 or -40 but I'll still just drive off. The sooner you start moving the quicker the engine heats up. Just keep it low and slow and you're good to go.

And if your brakes don't easily hold you stopped when the engine is idling a bit higher you have a bigger problem than cold driving.