Hmmm, I just follow my owner's manual, which says to not idle or warm up the bike, and to ride once its started. Granted, I don't live in a cold country, and I also take it easy on the bike for the first five minutes or so after it's first started.
"If you ride like there's no tomorrow, there won't be."
My Burg has EFI...my usual routine is: helmet & jacket on, stuff under the seat, off the side stand (note: it will NOT run with the stand down), start it up, reset trip odometer, jacket zipped, gloves on, and go. It runs ~90 seconds before I start off.
I start it up, roll to the end of the driveway and stop long enough to put my face shield down, and then go. If it's cold (which it really isn't here often) I go slow initially to warm it up, but mostly I just go.
I have to wait. otherwise i get a 3000 rpm surprise slowing down for the first traffic light with the choke closed! lol. It also has a slight stumble just off idle until it will run without choke. Takes about a minute...i can ride right off if i wanted to, but i wait and buckle all the gear up while it warms...carburation...i still like it.
I will start it up, make sure all electronics are synced and functioning, put on the helmet and gloves, side stand up and off we go. I will admit that I do take it easy for the first 5-10 miles and can note a definite change in engine smoothness and performance once the oil is fully heated and distributed throughout.
My owners manual for the ST 1300 says to wait for the first bar to light on the LED display for the temp gauge before riding. Depending on the time of year this is enough time to get geared up and the wife seated and the intercom working. I like to start it with my helmet off anyway.
Ride Safely. Respect nature. Always wear a helmet.
When I was young and had carbureted bikes I waited to the bike to warm up and not need the choke anymore, until the bike was idleing smooth. Now with both my fuel injected bikes the same thing. You can hear them warm themselves up and then smooth out into a slower idle rhythm, then I go. Obviously longer when its colder usually drive from 30 degrees on up.