In the same way that you don’t want to put food in a cold oven…
I don’t want to walk into my cold living room in the morning… So I turn my little space heater on, aim it into the living room, shut the door, and let it preheat for like 15 minutes. I am no better than a rotisserie chicken.
If you’re within an hour walk from home, you should just walk home.
I understand taking public transit or an Uber there to be on time, but you’re not rushing to get home. Thus, walk.