To say that it doesn't hurt anything to drive on a cold engine is not exactly true, but this myth has been effectively spread by the environmental folks over the last 30 years to where most everyone thinks it's true now..but it's not, not matter how many times you repeat it.
Engines are designed to run while at operating temp, before that , metal clearances are wider on some things and they bang around a bit, pistons slap like crazy in their bores when cold leading to premature cylinder wear with excess taper, cylinder heads move around on the block when heating up and slide on the head gasket. A slow even warm up allows them to heat up evenly, but when put under load, they heat unevenly and flex all over the place and you get excessive movement on teh head gaskets which can lead to premature failures, I can go on and on, and I get my information from an old instructor of mine who was a past top bigwig at the Society of Automotive Engineers ( You know, that SAE you see stamped on everything ) amongst other seriously equally impressive credits
The environmental folks started the campaign to get folks to stop warming up vehicles and pushed detroit to make engines that you could turn the key and take right off without them stalling , but just because you can, doesn't mean it's a good idea. You will generally find the difference between engines that have gone a few hundred thousand miles on the factory head gaskets and ones that have had a set go every 150k or less , is the warm up time.