Embee and Warren are right.The engine warms up quicker if you ride off,but a balance has to be struck by not overstressing it when cold.The least wear occurs when you warm it by riding gently.
And other bits need to warm up too,so tyres don't get mullered by hard riding from cold and you are not tempted to go for it in the first mile or so and overwhelm slippy rubber.Even the shocks work better at running temperature.
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