The owner’s manual for my M2 (see attached image) recommends to drive off right away, not wait while the engine idles. Notably, I think this recommendation is a nod toward fuel efficiency. Even so, I think BMW wouldn’t recommend it if it were going to damage the engine.
For me, by the time I’ve backed out of the garage and off the driveway (it takes 30 seconds or so), the engine has naturally had time to drop from initial cold start RPMs and settle. So I just drive off and keep the RPMs under 3,000 until the oil is up to running temperature.
