It doesn't take much "prudent "driving to get a car up to operating temp - a mile or two will do it.
But it will take 5 - 15 minutes of idling to get it up to the same operating temp.
Why does it take longer? Well your car idles at about 1,000 rpm's. "Prudent" driving will have the engine spinning at 1500 - 3000 rpm's
Idling that long is harder on an engine than a couple of minutes of "prudent" driving.
What is "prudent" driving? Easy acceleration for the first few miles. No need to rev it up to 5000 rpm when it's cold.
I've bought a number of new cars that I have taken well beyond 100,000 miles using these methods in the extreme cold (I have started cars in -64 below air temps - and you don't want to know what the wind chill was...
) that is the nature of MN and WI (where I've lived the most). Typically I will take a car to about 150,000 miles before I move it.
This goes all the way back to a 1979 Pontiac Grand LeMans (the car I started in -64 degree temps) I purchased new. When I sold the car (in 1991) - to a coworker) it had 217,000 miles on it and the engine had never been opened up.
Right now I've got two "driver" cars in my garage (besides the Sonic) with over 125,000 miles on them - my 2011 Chevy Impala (company car) and a 2006 Pontiac Torrent.
I drive the Impala 1,000 miles per week and I'll have it long enough to turn it over 200,000 before the company turns it over to someone else that doesn't travel as much as I do. The Torrent will be replaced with a 2016 or 2017 Equinox or Terrain in 1 - 3 years.
Between my company car, my personal drivers and my toy cars ('64 GTO convertible, '72 Camaro, '49 Caddy Limo, '81 Chev C10) I drive about 75,000 miles per year - so I've got a little real world experience.