I agree with the advice to let the car run for a minute or two until the idle settles down a bit. But I also agree that it’s ok to let it run for 10 minutes if you want the cabin to warm up.
Needing the car to warm up for 10 minutes is a holdover from carburetors I think. They just weren’t as good at metering fuel in extreme conditions, and the cars simply wouldn’t drive until the coolant got a little heat into it to warm up the carb.
You have to find a brake specific fuel consumption chart for your engine. That’s the only way to know for sure.