Kinda depends how many miles you have on it, but also not really.
A lotta people state you always need to let your vehicle warm up before driving regardless of temperature, and that might be true for some engines like rotaries and diesels, and older carbureted engines, but if your engine is healthy and you've kept up on your maintenance, if the vehicle is running you've got oil circulating.
If you've got a ton of miles on the engine, maybe wait a couple minutes before setting off, that way you're at least letting the engine get some heat in it and avoiding big temperature shocks to gaskets, seals, e.t.c.
Personally, as someone who's chronically almost late and has lived in Northern Ontario his whole life, I basically don't wait at all. As long as I can see out the windows and the vehicle has started, I'm setting off. I'll start my car and set off after clearing off snow/ice and setting up my music, maps and air settings, that can take anywhere from 30 seconds to 5 minutes and that's enough time. I've never had so much as an engine tick in any of the cars I've owned despite never letting my car actually warm up before driving.
Short of near arctic temperatures (-22 F or below) if your vehicle is able to start and has relatively normally oil pressure, you don't have to sit around idling for more than a minute to be safe.
Plus, your car will warm up much quicker once it's actually driving.
If you want to speed up your truck getting to temp, you can turn on basically everything that consumes power create a little more resistance for your engine aside from your blower motor which should be at its slowest possible setting as it'll pull heat (AC, lights, music), this doesn't do a ton, but when it's a frigid day and you can't deal with the cold, every little bit helps.