It is a good practice even with modern engines. Especially if you drive one that has a turbocharger.
Letting the engine warmup after a cold start just for a minute or two allows the engine oil to reach closer to its operating temperature and start circulating properly, meaning lesser stress on critical engine components.
All cars/bikes have their idling rpm run high after a cold start and it drops by 300-400 rpm after some time. Try and notice if that happens in your vehicle. If idling rpm does drop after a while, your vehicle does need to warm up a bit before you start driving. If not, be on your jolly way immediately
PS: I am a member of the car and bike forums 😛