My MS3 had a blue light on the dash that indicated it was cold and when that went off it was up to operating temps. But in the winter that light would still be on after 4-5 minutes of idling so i would just drive off as soon as my RPM's dropped to a normal idle range.
In the FiST it warms up basically RIGHT away, when it was cold out in the mornings (Arizona cold, 40 degrees) it would take 1-2 minutes to drop down to normal idle. Now that its spring and 70 in the morning and 100 in the afternoon, it takes about 20 seconds to get up to temp and idle drop.
Generally its a 1-2 minute thing. Get in, start it, get situated, put my drink down, hook up my AP and change the radio usually then shes warm.