[Biturbos4] Idle Warming Up Question

[James Coraci]

Hello All.
 
The NE winter and a month straight of sub-25 degree F weather prompted
me to read my 2002 S4 manual searching for Audi's position on warming up
the engine while the car idle.
Like the BMW M3 manual, their position is that due to greater "engine
wear" the car should be driven upon startup.
 
Is there a consensus opinion on this list?
It seems painful to not give a 22 degree S4 a few minutes before
rolling.
 
Thanks.
- Jim