I wait until it comes off the high idle in warm weather, when it's cold I start it and then bundle up, it's usually ready to go by the time I am.

 

+1

But then again very seldom have to bundle up out here in Cali. By the time I roll it out of the driveway it's good to go.

 

When mine starts, the high idle is around 1200 rpm's. I let it idle til it comes down to the warm idle of 900-950 rpm's then ride it easy for a mile or so to the stop sign, then just go normally. Takes longer in winter than summer.

 

I was always told that if you leave a bike to warm up, you risk the chance of unburnt fuel due to the richness to wash oil off the bores!
I ride off very gently for about 3 to 4 miles before opening up, never had any trouble from doing it that way in 35 years.

 

start it, put your coat and helmet on and go. most people dont jump on the freeway right out of the drive way anyway.