warming the engine does nothing for the bevel gear in my, yes, old volvo 99V70XC. that gear still sounds out when it is -10, so I always put it in gear and drive after 10-15 sec at, as previously stated, below 2000 rpm. It take the tranny fluid even longer to warm up when it is very cold. so listen to the engine/tranny downshifting more as you start out until it reaches its more fluid easy shifting pattern. have you hurt anything? Hell no. drive it.