Ford dealer tech here in Winnipeg. Yes, it’s a good idea to warm up your car a little, especially in the winter. You want the heat and clear windows.
I have a 2014 Titanium, and I use the remote start. I let it warm up for about 5 minutes, especially in extreme cold temps.
10 minutes is too long. Just wait a bit for the oil to warm up. In Canada, -20°C to -30°C is when I let it warm up, mostly for comfort. At -10°C, I start it, let it idle for a few seconds, and then drive slowly until the car warms up.