Long, cold morning idles for a petrol engine will cause excessive wear due to fuel wash on the cylinder bores (due to choke/cold start), whether carb or injection engine.
Not same for diesel engines as the fuel is an oil rather than a hydrocarbon solvent but diesel engines will not warm as quick as the engine blocks, heads etc are much thicker due to the compression ratios need for diesel ignition (20/22:1 compared to maybe 8/9:1 for petrol). Also, as has been previously mentioned, diesel is much more efficient from cold (no cold start/choke required, glow-plugs do that) so therefore will generate less heat.
For example, at the moment, my E320 takes almost 3/4 of my journey to work (13 miles) to get up to 80c but a petrol (such as my other halfs Ford Fusion 1.4) takes possibly only a mile or so before being up to a reasonable temperature and kicking heat out from the vents.
If you drive off straight away, the engine and transmission will warm up quicker as obviously the engine will be revved. On petrols, the cold start will go off quicker, limiting fuel wash on the bores.
Also, at idle, many alternators are not running at max (regulated) voltage until above idle so you won't feel the full benefit from heated screens etc.