Yeah the manual says that but you can warm up your car especially if it's snowing in your area and if you leave your car off for long periods of time. Two sides to it though and it's not like anyone here is going to warm up there car for 1 hour high revving until it's hot and forget. Wether you warm up for a couple minutes or pull out do what you got to do to make your car idle properly. Common sense guys don't have a heavy foot on the first start up like I had stated it's going to feel like your car is a drag on the streets. If you are always normally driving your car when it gets older in age and it's moving like a turtle warming up will take longer.
Yes, you can pull out and drive and yes you can warm up your car to let all the oil flow in the motor until your engine is warm at a "steady idle".
If you don't know the difference between excessively hot and just plain warming up it won't matter to you so do what you need to get your car rolling. Changing subject.
Warm up, drive it until warm, as long as your "idle is in a steady range" and not erratically jumping off the rpm band you should be good.
Hopefully SGTS question was answered and welcome to he boards.