The idea of letting your car sit and idle has been shown to not be a great idea for a while now and over the last couple of years, there have been numerous articles from lots of sources. Regardless of the source, the major themes are the same in all of them
A few examples:
Warming Up Car | Engine Damage Warming Up Car Before Driving
I might agree with not letting a vehicle sit ridiculously long when temps are fairly moderate, say 20-30F. But when temps plummet to zero and below, I myself believe that letting a vehicle sit and idle upon start up is surely not harmful, but actually beneficial. Especially when temps are wicked and dangerous cold, -10 and below.
Yes, a little bit extra fuel used, one could say adds up, but how much? Certainly not like one's doing it for weeks-months on end, unless you're living in International Falls, or such. I'd say the trade off is worth the expense.
That a lot less wear occurs to the engine and transmission that lubricating fluids are able to lubricate better before a load is placed on those components. Of course full synthetic lubes help in these instances of extreme weather conditions.
I've seen rubber hoses in -20F and below shatter like glass.
That's why one relatively inexpensive option could be a remote start. Many modern remote starts have quite a range today as well, up to and even exceeding a 1/4 mile in distance. The remote start combined with my Viper Alarm is said to have a range of up to 2200'.
The remote start can also serve a benefit in summer, in that by starting a vehicle with the AC set to cool, you're not stepping into an oven. Most remote starts will run the vehicle for about 12 minute's time, then automatically shut off, just in case you forget, or linger a bit too long.
Yes, I am aware about laws in many states outlawing this practice. To that, I blow one big raspberry. Pffffft.