On my 6.0. I start it up, and let it idle for maybe a minute or two. Then I take off. But I drive it very easy..... like not much above a fast idle until the engine starts to build some heat. That is just the first few minutes. If I leave home and goto the filling station just up the road (Less that a Mile) I am very easy on the throttle, and I let it sit and idle for the few minutes that I am inside. By then, unless it is really cold out the temp guage has started to move into the low side of the range (stock idiot guage, but still a guage that moves with changed in temp, unlike the oil pressure guage. on/off at 7psi....) and then I will drive in a more normal fashion. I will not really throttle on it until it is up to normal operating temp, which for me in all but sub-zero temps is at mid guage. Then I am more generous with the fuel..... I do have the EGR and the VGT that is effected by long idle times, so that is one reason that I limit my idle time. I would say, as you get more comfortable with your truck, you can "feel" some of the things I am talking about... and really don't have to watch of something specific on the guages.......