This subject is one of the great misunderstandings of the car world.
-Allowing the car to idle for several min. to warm up does absolutely no harm, and in fact if very beneficial to both the engine and drive line.
-The reasons your manual tells you not to let the car idle is the exact same reason they now come with a system that shuts the engine down at traffic lights: CAFE ratings. They say that purely to try an improve the cars gas mileage, which is also why the car supposedly needs 0W oil. OEM's will spend millions to try and eek another 0.2 MPG out of the existing car designs rather than come up with improved engineering designs that require retooling their manufacturing.
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“Anything really new is invented only in one’s youth. Later, one becomes more experienced, more famous – and more stupid.” - Albert Einstein
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