"Cold" driving

[BenzOnline]

When I go to school in the mornings I need to take the highway which is a few block from my home and by the time I get to the entrance ramp my temp gauge show between the 40 and the 80 so I know the engine is not warmed up yet totally despite me waitng in the driveway to warm up for about 5, 6 mins. I try to not pust the engine when getting on due to the fact that its not warmed up totally but, would I still be doing any damage to it by going on the highway right away and it not warmed up to par?