Only time I do is when it's below 20 degrees outside...and that's more for my comfort than anything.
As far as letting RPM's drop, etc...if it's not butt-freezing outside, by the time I back out of the garage, wait for the door to close (my garage door doesn't always like to STAY down), and back into the street, it's easily 30 - 60 seconds before I hit the gas anyway.
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Former: 2006 Top Banana Charger Daytona. Felled by a dropped valve seat 9/4/14
Current: 2015 Sublime Scat Pack Challenger