every once in a while i start 'er up and stare at the temp guage, it jumps as opposed to smoothly getting higher and higher. but usually i'll end up starting, setting the climate control or window defroster, going back inside to take care of whatever (take a dump, get my son ready for day care, drink a glass of oj) then when i go back out to the car i know it's been warmed up really well. (this may not be suitable everywhere, but in this neighborhood im not too worried)
depending on the length of drive and my habits, i let it sit and idle in it's spot for 5 seconds to 30 seconds. when im about to park it for the night i come up towards the house, throw the stick into neutral, and let it coast to it's final parking spot fot the night (downhill and takes about 10 seconds to get there), just to give the radiator that much more air and not putting a load on the engine at the same time.
does any of this help, maybe/maybe not. but i know i don't romp on it upon first morning startup or cruise at 80 on the highway just to find an exit with a mcdonalds and shut it off right away.
and for those of you who have short commutes that never let the engine warm up completely before you shut it off again when you get to work, this is probably doing the worst damage of all. if your car never gets in closed loop its not good for the life of the engine