Since the engine was fully warm and had oil pressure, the chances of damage are much less than if this had happened on a stone cold start up. At least you shut the car off within seconds. If you have ever seen how many "mechanics" abuse customers cars, you wouldn't be worried. When I had the brakes replaced on the Eldorado, the mechanic pulled around to the side of the shop and did a full burn out with the car. What a moron.