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Warming up or driving in a shorter gear is the same thing. He doesn't want to tax the engine until it is at operating temperature. You can drive directly off after starting the car. It won't hurt the engine.
The only way any significant amount of gas could get in the oil is with a stuck injector. An engine with good rings and cylinder wall necessary for good fuel economy won't permit any gas to escape. Also direct injection precisely meters the amount of fuel for complete combustion.
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