We have an older Honda (1998) which clatters a bit on cold starts. As the engine heats up and the oil circulates the noise abates - due to the lubrication and the parts expanding. This takes five minutes or less. We do this to avoid excess wear due to friction and impact of the parts.
We have a less old (2003) Siverado pick-up which we just start and go in.
I've owned cars as old as 1965 models. I worked in a gas station as a teenager and took auto shop in High School. I never heard of routinely warming a car for twenty minutes before driving. As much as ten minutes in extreme cold - maybe. This advice must be for cars on six volt systems and generators or older (first half of the twentieth century).
