Start it, wait about 5 seconds, then start driving. I try to keep it around 2.5k until it's hot. No higher than 3k. Once she's fully warmed up I open it up. Maybe I'll go to 4k as it's warming up but not 100%
Oil circulation is much more important than thermal expansion and other things that happen when the motor is hot. Oil circulation takes almost no time at all, it happens right when the car is started.