Warming up engine before driving hard?

[Mr PB]

I just recently went to stage 2 with a 034 Motorsport ECU/TCU tune, downpipe, intake, and intercooler. I like to live in sport and drive fairly fast in terms of getting up to speed, entering the freeway, canyon driving, and cloverleaf driving, getting the rpms up. I saw somewhere it’s smart to get the engine warm and oil temp up before hitting high rpms which I haven’t been doing in the year I’ve had the car. It’s there truth to that? If so what oil temp is where I want it before driving hard? I wanna protect the engine as much as possible having voided the warranty.