The ECM in the Honda motorcycle goes on a preplanned map when it is cold, it monitors the sensors as the engine warms. As the reading on the sensors reach a certain level it compares the readings to the map in the program and adjusts its fuel to match .
A cold engine needs more fuel to run smoothly because cold air is dense and has more oxygen in it. The manufacturers kick the idle up for faster warm up and to keep the engine from stalling as well as adding in a richer mixture. Until the sensors start to operate a simpler EFI system has no idea what conditions it is operating under until the sensors reach a threshold. The STs EFI is a fairly simple one.
Which is why it operates differently at higher altitude, I have had mine stumble when riding in Butte Montana. Even warmed up it has a map it works off.
Yes, I warm mine up till the idle comes down on everything I own, habit and just knowing that really loud slam when the trans goes into !st gear is enough for me to wait a few minutes
Most of your wear is in the warm up stage, up to 90% or more, the worst thing you can do to a engine is shut it off and let it cool down. But that is a bit unreasonable.
As for hurry up and drive under light throttle and light load, it really doesn't make much difference from letting it idle down. They both are going to work fine. I am older school in believing that any load when cold is bad. But with quality control , more research and better oil, warming is not the same as it used to be..
I have a Kawasaki Concours, the fuel injection system is a whole bunch more sophisticated than the STs. It gets better mileage and is 1400 cc instead of 1300, mostly because its more accurate input information.
But you still can't have my ST, it has got its tire tracks on my insides and it won't let go