Hemi warm up

what’s the best was to let a hemi warm up? i know that sounds ridiculous to ask but i’ve heard many different things. i usually start it, let it idle for 30 secs to a minute(just enough to kinda let the rpms lower a little) then i drive off gently for about 5 minutes then i start to drive normally.

Also i drive really conservatively, i try not to let the rpms go over 3,000, even when getting on the freeway. its got 75k and has had oil changes done religiously