Nothing bad happens (aside from "wasting" gas) from letting your car warm up at idle.

Nothing.
I say "wasting" because it's a teeny bit of gas relative to how much it takes to actually move your car down the road.
Bad MIGHT happen if you let it warm up at idle until the water temp indicator says it's warm, then flog the hell out of it... but the point is that "water temp warm" and "engine and drivetrain at operating temp" are different things.
What you want is for the drivetrain to be at operating temp before you stress it, where stressing it is applying large loads (flooring it or going high-speeds, EITHER RPM or MPH)).
You could warm the car with a heating blanket. You could park your car in an oven. You could let it idle - but idle doesn't heat up the gear boxes so if you let it idle to warm up, the whole drivetrain is not ready for flogging.
Car manuals are written for simplicity and clarity... the easiest and safest way to describe warming up is not to go into the details of operating temps of the gear box etc. etc., but just to say "Idle - bad. Drive - Good!"
Just had to get that off my chest. Wheew. Feel better now.
- Robin