I can't say that I have ever warmed mine up. Maybe 20-30 seconds while I do a quick walk around and get my gloves and hat on. I don't have a thermometer in my garage, but the snow generally doesn't melt off the blade and tires. I don't know that I would ever leave it running in my garage because the exhaust of the tractor points right at the cat door that leads into the house.
That being said, I have never seen any delay in the HST or loader. The 3ph is sometimes a bit sluggish. Generally, I will run it at or just off idle to back out and get turned around to start clearing the driveway. Since the driveway is downhill, I can plow it at those speeds.
After the driveway, the temp gauge has come off "C" and I put it in high, pour the coals to 'er and run it up to the governor to plow the road (2600 RPM). Unless someone wants to talk, it stays there until I pull back into the garage, generally 30 min or so.
I have noticed that the hood gets hot enough to melt snow and steam when I have been working it hard. I suspect that is more a function of the muffler being right there than engine heat.