Straight out of my Toyota Owners manual for my 97 4runner
Normal starting procedure
"The multiport fuel injection system......
1. With your foot off the accelerator pedal, crank the engine by turning the key to "START". Release it when the engine starts.
2.After the engine runs for about 10 seconds, you are ready to drive"
"Do not race a cold engine"
I let my engine idle for about 20-30 seconds (the time it takes for me the close my cracked windows,moon roof, click on my seatbelt and set my radio station. I normally do not get over 1/2 throttle or 3k rpms until the temperature is normal. By the time I get to the on ramp of the highway I'm at normal temperature.