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I do what C1pher said. Anything else is wrong.
Too little time (i.e. you turn it on and the car is warming up the cat with lots of fuel and high RPM), and you are jostling your drive around the parking lot. Nothing wrong with it, other than the bucking.
Too much time, and you're wasting fuel and polluting unnecessarily, to no benefit to the vehicle.
So, as soon as the RPM settled to 750 RPM, get going.
For me it's: turn car on, set the location in navigation, buckle up, set preset M1, select Sport display with M Mode button... 1 minute or less temperature dependent.
If it's -30 it might take more than 1 minute for RPMs to drop, in which case you can ascertain whether the car is just a bit higher in RPM because it's cold and not in the warm-up sequence anymore (change in exhaust tone), and decide whether to wait for RPM to drop or drive anyway (it won't buck likely).
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