There is definitely some validity to this but I do think it’s blown way out of proportion. It basically says that driving warms up your engine faster so it reduces the amount of extra fuel dumped into the cylinder that strips away the protective oil layer. So basically the only concern is the difference in the amount of time it takes the engine to warm up. If you drive it to warm it up it is doing the same damage, but for a slightly shorter period of time.
I would argue though if you drive it hard when it’s cold to warm it up you are likely causing more damage than if you just idled it.
The other thing that happens with excessive idling is blow-by. In time it will reduce the flash point of your oil and reduce its viscosity. A good synthetic oil will negate this issue with its ability yo absorb sunburnt fuel as long as you are changing it regularly.
I’ve made it a point to change our oil in the winter with about 30% fewer miles between changes because of the blow-by from idling.