Do you always warm up your engine?

How many of you with BMW's take the time to warm up your car's engine before driving away. I.e., do you wait for the "Cold" alert on the dash to disappear? Or do you throw caution to the wind and hightail it outta there no matter what. As for me - I'm of the paranoid variety - I often wait. But if I'm in a hurry I just start out slowly, and I always at least wait til RPM's are at 1000 or less before I do

Update - Thanks compatriots! Looks like I’ve been wasting a few minutes every day. Ha. Here’s to better time management and engine longevity