According to Jason Fenske from his YouTube 'Engineering Explained' channel, cars with electronic fuel injection do not need to be warmed up before lightly driving off. This is because almost every vehicle built over the last quarter of century has fuel injection, which in turn compensates for the temperature changes as the car gets warmed up.
So what you really need to do is to wait between 15 and 30 seconds to make sure that the engine oil flows thoroughly throughout the engine before moving off. Of course, common sense will tell you that you shouldn't rev the car hard until the car is fully warmed up.
Watch the video below for an more in depth explanation!