I wonder about this.
On the T8 hybrid you can be driving around for quite some time with the engine cold and not running at all, then if you suddenly hit the accelerator (e.g. left hand turn with oncoming car), the crankshaft-integrated starter/generator will suddenly power up the motor and immediately the combustion engine will be running (not just at idling speed) providing power to the front wheels within a split second of first turning on.
I have been worrying about whether this adds wear to the engine in the hybrid but the engineers appeared to design the system such that this is expected behaviour, and the manual says nothing about warming up the ICE in the hybrid before you get going, so hopefully they got everything covered with the oil pumps etc and warmup shouldn't be an issue.
If this behaviour is expected in the hybrid (i.e that the motor when first called into service will be asked to provide power at higher than idling rpms), i would imagine warming up is probably superfluous in the T5/T6 models as well. But would love to have some engineer/mechanic somewhere be able to confirm.