I start it and drive off a bit slower. The thing about the car lasting longer is not really a solid argument. Most won't keep there car long enough to be able to say....damn, I should have let it warm up........
As for the oil circulation.....that is why there is multi grade oils. Just for the heck of it, take a quart of oil you use and leave it outside with your car. In the morning, see how it pours. Then take one warmed to the temps YOU drive off at and see the difference. I doubt the oil is as warm as you think. Also, all the oil is most likely NOT warmed to operating temps when you drive off.
As long as you don't put a harsh load on the engine when it is cold, there should not be any damage. An idling engine gets wear just like a engine driven gently until warm.
My thoughts and opinions......been driving many, many years and never killed an engine based on oil issues.......
Panama City, Fl
2011 Mustang GT California Special
2000 F250 SD 7.3 Super Cab