I live in a condo with underground parking similar to your pajerist.

Here's what I do.

Morning. Start up, idle for 1 min until the coughing stops and slowly drive out and around the block. By the time you drive 2 blocks, it will be fine for our weather (even winter).

When I go home.. I make sure that I just cruise home slowly (1,200 max RPM) for a few blocks before I get home. Once I open the gate and drive in, by that time it's been 2 mins and I shut it off.

You do not need to have it idling for 5 mins at startup and 3 mins at shutdown unless you race 2,500+ RPM all the way to your parking garage.