You are absolutely not supposed to do that. In fact, you’re supposed to do the opposite. Letting your car idle to warm up kills it faster because the oil pump isn’t running because the car isn’t moving.
The exception to this is:
A) when it’s really freezing cold out, and then still not more than a minute (not “at least a minute”. No more than a minute. 30 seconds is plenty in winter. To be clear, if it isn’t cold out, this doesn’t apply, and you shouldn’t wait at all.
B) if your car is ancient, like with a manual choke or similar. Well over 40 years old.