The "most engine wear occurs in 5 minutes" is a reason to drive the car, not let it idle. You want to get the car through the high-wear warm up period as quickly as possible.
This is pretty much the advice given in nearly all publications: Start the car, let it warm up enough so that it takes throttle smoothly - if it's stalling, hesitiating, bucking, or otherwise not getting underway smoothly, let it warm up a bit more. Once you go, drive gently at first, gradually using more power and RPM as it gets fully warmed up. Some even advise not to drive the car hard until oil temps come completely up and oil temps lag coolant temps by quite a bit. But I'm not going to risk a rear-ender on the freeway worrying about some tiny bit of extra engine wear - if the coolant temp is up to normal, I'm going to use the engine as I need to.
This procedure minimizes wear/tear, reduces gas consumption/emissions, and gets you going to where you're going.
- Mark