Copied & pasted from my 2012 owners manual.
Starting Procedure – Engine Manifold Air
Temperature 0°F To 66°F (–18°C to 19°C)
NOTE: The temperature displayed in the Electronic
Vehicle Information Center (EVIC) does not necessarily
reflect the engine manifold air temperature. Refer to
“Electronic Vehicle Information Center (EVIC)” in “Understanding
Your Instrument Panel” for further information.
When engine temperatures fall below 66°F (19°C)
the “Wait To Start Light” will remain on indicating the
intake manifold heater system is active.
Follow the steps in the “Normal Starting” procedure
except:
1. The “Wait To Start Light” will remain on for a period
of time (length of time depends on engine temperature).
2. After the “Wait To Start Light” goes off, turn the
ignition switch to the START position. Do not press the
accelerator during starting.
3. After engine start-up, check to see that there is oil
pressure.
4. Allow the engine to idle about three minutes until the
manifold heaters have completed the post-heat cycle.
5. Release the parking brake and drive.
NOTE:
• Engine idle speed will automatically increase to 1,000
RPM and engage the Variable Geometry Turbocharger
at low coolant temperatures to improve engine warmup.
• If the engine stalls, or if the ignition switch is left ON
for more than two minutes after the “Wait To Start
Light” goes out, reset the grid heaters by turning the
ignition switch to the OFF position for at least five
seconds and then back ON. Repeat steps 1 through 5 of
“Starting Procedure – Engine Manifold Air Temperature
Below 66°F (19°C).”
Starting Procedure – Engine Manifold Air
Temperature Below 0°F (-18°C)
In extremely cold weather below 0°F (-18°C) it may be
beneficial to cycle the manifold heaters twice before
attempting to start the engine. This can be accomplished
by turning the ignition OFF for at least five seconds and
then back ON after the “Wait To Start Light” has turned
off, but before the engine is started. However, excessive
cycling of the manifold heaters will result in damage to
the heater elements or reduced battery voltage.
The procedure may be different for a 2013 & up truck, but thought this might be helpful. When I start on a cold morning, I let it run 2-3 minutes before putting in gear. IIRC, the one big thing to observe is, go easy on the go pedal until you reach normal operating temps.