That makes plenty of sense. It is pretty stiff to get into reverse or 1st gearit's not bad but it's not ideal.
If you let the car warm up standing still, the engine will be up to temp but the transmission and diff fluids will not be up to temp.
So you warm up the car, think it's all good to go, get on the road and take off like a bat out of he!!. EXCEPT, your tranny and diff are still stiff. This can lead to increased wear.
Get on the road and drive gently to warm up is what I do.