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With any modern vehicle, waiting beyond roughly 1 minute (enough to come down to normal idle as stated several times already) is just wasting energy. The engine will take a long time to warm up at idle. You want the car to go into closed loop and then start driving. As stated by others, be easy on the load until the oil warms up. IMO, once the needle is moving it's warm enough to drive harder if needed (like to pass someone) but I'd wait for any redline pulls until the oil is fully warm.
Regarding needle position for "warmed up", it definitely depends on climate and traffic conditions but you don't need to be to the first dot to be fully warmed up. Keep in mind that the gauge is "dampened" as well. My normal operating temp varies, but usually 3/4 of the way from "zero" and the first dot. It gets up to the first dot when in more traffic and/or stop and go. If you put into sport+ mode, the oil cooler is fully utilized which will bring the temp lower.
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