When I drive my truck as a DD I start plugging it in around 40°. I don't do that because it needs it, but I like that it warms up MUCH faster when I do so, 3-5 min for heat vs 12-15 min. I use an outdoor timer and set it to start about 90 minutes before I leave for work. In testing I found that 90 minutes gave me 90% of the overnight temp at a greatly reduced cost. A winter front also adds to the effectiveness of the block heater.
I have started at 0°F without a block heater and it starts fine, just takes too long to get warm. Idling to warm up at cold temps is also not advised as a cold motor without a load doesn't do a good job of burning all the fuel, which can cause cylinder washing. A good rule is to start it, let it build oil pressure and drive it easy until warmed up.
I also have found, thru oil analysis, that engaging the exhaust brake on a freshly started motor really soots up the oil. The combustion isn't complete, and the rings are looser when cold, so you have positive exhaust pressure easily pushing soot past them. I wait until the coolant is at 140° at least for exhaust brake use on a cold idle, and it made a big difference on soot in the oil.