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i think it depends on what you consider "cold". if its below freezing, ill start the car shift straight to neutral(won't circulate trans fluid otherwise), wait 10-20 seconds depending, then go. below 15 or 20? ill let the car idle in neutral for 20 seconds to a minute. my car acts really funny if i don't let the rpms come down a bit first. no matter how cold, 2 minutes is my maximum of idling and only if i have to clear snow off. it will occasionally get below 0 here(-18c), i know last year it got cold enough my fresh 720cca battery barely cranked the engine over.
above freezing there's no need to let the engine idle.
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