What are the pros and cons of warming your cars engine, before taking off in it?

First of all, in my state, it’s a law violation to leave your automobile’s engine running and unattended. Cars thieves love cold weather. My question concerns a century-old debate on whether to warm your cars engine, before taking off in it. Most mechanics state it’s not necessary, that about 30 seconds is sufficient for the engine oil to circulate. I am no mechanic, but I believe my procedure is the reason for my cars engine’s long longevity. In cold or warm weather, I start my cars engine and let it run until its tachometer reaches 1,000 rpms. I then shift into drive and on my way. My Toyota has 264,000 miles on its original engine. “A cars engine is like a human heart. You have to let both warm up, before running a race”. This has been my theory for 50 years of driving automobiles. Question: what’s your opinion? Do you let your cars engine warm-up before taking off or do you just start and go?