PA 38 POH states "Warm the engine at 800 to 1200 RPM for not more than 2 minutes in warm weather and four minutes in cold.....Take off may be made as soon as the ground check is completed and the engine warm."
Other types may have different advice in the POH.
As BGF states there's no absolute rules but I tend to go with IFT of not moving till the oil temp is beginning to nudge into the green.