If you don't have a carburetor and are not going to be maxing the engine out, be it racing or towing a huge load, there is no need to warm an engine up aside from adjusting the temperature of the cabin. I took a class on this that was taught by representatives of a major oil company for work. An engine is not so frail that it will destroy itself if not warmed up. By the time you start it and reach down for shifter there is plenty of oil on the internals. Also, in most cases, over 95% of engine wear is on the initial start up when there is no oil on your internals. For those who have to warm their transmissions up that may be a different story.
Synthetic oil isn't suppose to get thick when it is cold, so if you have troubles starting when it is cold this may help you.
You also don't want to use a different grade of oil on your engine than what is recommended. Your engine was designed with different tolerances and there is a reason if your vehicle calls for an oil grade you should use it. If you have an engine that calls for 5-30 (the 5 is the viscosity of the oil on start up and 30 is the viscosity at operating temperature) and you put in 20-50 it is going to take longer for the oil to travel to those vital internals, and you will be wearing out your engine sooner. If you have a leak, yes, thicker oil may slow it, but it is much better for you to fix the problem, or treat the oil with additives. If you have a leak and use synthetic, it will leak out faster than regular oil since all the molecules are the same size and not irregular in shape like conventional oil.
I hope this is helpful to you.