I keep seeing and hearing different opinions about this:

When it's cold outside (say 32 degrees or lower), what is the best way to
get a car going after it has been sitting and the engine is cold?

Years ago I read an article from some Q&A article in the newspaper.  These
two guys said it's better for a car if you just get in and go.  For
starters, the car will warm up quicker...plus there is something about that
it's easier on the engine.  For years I have always drove this way...get in
and go.  After about 1.5 to 2 miles, the car is at normal operating
temperature.  Well, a co-worker at work said that you actually want to leave
them run to heat up the oil.  His opinion (this was mostly for older cars)
was that if you don't allow the oil to heat up, it might ruin the
transmission.

So I am asking folks here:  My previous car did have some transmission
problems, but that occurred after 100K miles.  I know that the previous
owner did let it sit and heat up.  I didn't, and I now wonder if it
eventually caused problems.  This was in a V6 with 5w-30 motor oil.  I now
have a 2000 Grand Am V6.  This summer I switched from 5w-30 to 10w-30 Max
Life oil since the engine has over 100K on it now.  The car actually runs
pretty well.  I want to try to keep it as it will be paid off come February.
So, to the folks here....what is the best way to drive a cold car in the
winter?  Let it warm up fully?  Partially?  Or just start driving and have
it warm up quicker?  Is the cold oil that big of a problem with the
transmission?  Granted I have not had a problem over the last 4 years,
however I am now using a heavy oil (first time using it this winter)...could
that make a difference?

PS: My owners manual says nothing about this in the book.  At least not what
I could find.