Install a block heater if you can, which will keep the coolant warm and indirectly heats the block. Many use one simply so there will be instant heat, although faster time to full oil/block temps help with startup wear. No block heater warms up the coolant/block to full operating temperature, but that head start is nice.
I don't drive a whole lot in cold weather, but when I do I generally let it warm up a couple of minutes. I also want the rear-window defroster to do its thing. I don't know if it's strictly needed to help with engine wear, but it's not as bad as many claim.