Just south of you in Minnesota here. Assuming you are using a thin oil, 0W-XX or 5W-XX the viscosity will provide adequate lubrication upon startup. Assuming also the car is fuel injected. When it’s that cold here I start the vehicle, turn the defrost on, get out and clean off any frost on the windshield. Get back in, shiver for about a minute then put it in gear and go.

The key is drive easy for the first mile or so. No revs above 2500. Work the steering wheel (provided its hydraulic power steering, electric will be ok) so the fluid loosens up a bit. You’ll be fine. The engine will come up to temp much faster than idling.

Couple gotchas: your windshield can frost over on the inside. That may be a reason to let it warm up further to help defrost. Also, the engine will crank over slower. If it struggles don’t risk it. Just get a new battery now.

Now, let’s see all the people from central US chime in and tell us they let their cars warm up for 20 minutes when it hits 20 degrees out. We wouldn’t get anywhere for 4 months if we did that.

Both of my 2018 model vehicles (Fords) have factory block heaters. I’ve never used either in over 5 years. I used it on my old truck (2006) when it would sit outside in the winter for several days. But then for only about an hour before I started it. Made a huge difference in heating up.