Warm up on the turbo means sitting with the engine idling for a minute or two, or more realistically, just 20 seconds and then go ahead and go unless you live right on top of a high speed road, by the time you get down the feeder streets and onto a highway from most neighborhoods you're more than warmed up.
There's nothing to stop you from running around in no-boost mode for a half mile or so, all it takes to get nice and warmed up; you're essentially running an NA engine until you put your foot down on the pedal more firmly. This may vary for some commutes, where you really have to go from 0-60 as fast as possible because your driveway puts you right on a highway... but for those few people, oh well, sit in driveway a little longer. Once you do, you'll be getting to Merge Speed much more rapidly than the NA car, so decreasing the danger you're exposing yourself to every day. Worth it, yeah?
If you're running stop and go errands, there's no need to warm up again, Turbo runs HOT HOT HOT and you can be inside on a 30 degree day, come back out an hour later and your engine compartment will still be over 150... "warmed up" is around 80 degrees. Takes a long while on a cold day before you need to warm up again, and once more it probably costs you a whopping 60 seconds at worst.