Assuming temps over -20°C and a car newer than 30 years, I think you’re fine to drive away as soon as the engine is stable after starting. That’s probably well

Assuming temps over -20°C and a car newer than 30 years, I think you’re fine to drive away as soon as the engine is stable after starting. That’s probably well under 5 seconds and, unless you’re trying to do an old LeMans race start, isn’t something that I’d consciously wait for.