@Motorhead I would somewhat disagree. For folks who actually do live where it's cold, I'm talking cold not a little frost on your windshield. I mean zero or below for 4 months. It was -12F here yesterday morning. ATF+4 works in these conditions, as it is a full synthetic 20w oil. There are many many G56 in this area, and most are run bone stock. Zero problems.
Me personally, I fill with ATF+4 to plug then add 1 additional quart of Lucas full synthetic oil stabilizer through the shift tower. I have been doing this for quite some time on many different G56.
As far as warming up the trans, have driven manual trucks in coldest climate in lower 48 for 16 years and never done this. Never had an issue. Warm up the truck yes, start it up and walk away.