You can start driving immediately, but it’s a good idea to be gentle with your car until it’s ready.
In other words, don’t go out and floor it immediately when it’s stone cold.
On Monday here in central PA, when I left for work the temperature was reading negative 4 degrees. My 2014 Nissan Rouge stared up just fine and on the very first time and since there was no frost on my windows and I was bundled up real good, I didn’t wait for it to warm up, but as I drove out of my apartment complex, I noticed that the engine was sounding a bit louder than usual, making a pinging noise and not nearly as responsive on acceleration. So I pulled into the shopping center parking lot and let it warm up a bit before driving the short distance to get on to the highway. I didn’t want to try to get on I-83 and the very short entrance ramp with limited power.