Your engine can't tell and doesn't care if you're late to work.

Some parts will change size and shape due to temperature very quickly, others will take longer depending on proximity to the heat source, mass and material.

The harder you accelerate the more heat you generate in the combustion chamber, then valves, turbo etc. and the remote or insulated components will stay cool and small. So, if you are mechanically sympathetic you'll let it all normalise before you hook in...

In days without electronic engine management, they didn't run well when cold, now days they go just fine unless, like BMW did with the M5, they prevent heavy loads until all monitored systems are inside acceptable parameters and it won't let you.

Looking at the high end of engines, say F1, why are they are pre heated by circulating hot fluids prior to starting, then have a stationary warm up then a track warm up...go figure? Tradition, entertainment or engineering?

Ultimately it's your car and you get to do what you please but I don't agree it's fine to work it hard when cold. Nor, it seems does the poll.