I have had manual transmissions with conventional gear lube in them that took a good fifteen minutes of feathering the clutch in and out to get limber enough to engage the clutch without killing the engine. The first couple of miles are always a shakedown in that weather, and every vehicle I have driven in such cold makes an entirely new set of noises they don’t make when it is warmer...
We went through that for a few years, then we had our vehicles winterized each year (new antifreeze, new transmission and transfer case lube, change oil, etc.). When it was -50 or lower, I would get up, get dressed, start the truck, then go indoors to have breakfast while it idled. It would be warm enough to move by then — except for the frozen tires and shocks. Naturally, the grille was covered, to prevent the radiator from over-cooling.