The more your internals rub against each other while tolerances aren't optimal, the more wear...damage even...you're doing to your engine.
If you let you car idle for 10 minutes in -25*C, it won't even be close to fully operating temperature, and you'd have been doing 800 rpm x 10 minutes @ poor tolerances. In addition, you're not burning fuel optimally, so more carbon deposits are to be expected, and with that, more oil contamination.
On the other hand, if you V6 PANNE MOÉ ÇA, then your oil is too thick to properly lubricate all your valvetrain, pins, bearings and rings. And for that 30-40 seconds that you're panning your V6, you're putting your engine through a lot of stress with poor tolerances. So you're damaging it too.
Drive off too soon = damage.
Drive off too late = damage.
So what do you do? Let your car idle for 30 seconds @ -5*C, or 2-3 minutes @ -25*C, until your idle starts dropping, and drive slowly @ low load with low-ish shift points (but not too low, or else more load/rev) and let your engine warm up quick enough.
That's it. No miracle solution.