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Because idling a vehicle while stone cold is really bad for the engine, and potentially illegal too depending on the situation.
Get in, start it and drive off is the best thing for the car.
The most i'll do is start the engine, click on the heated screen and demister, then get out to scrape the glass before driving off. That way the screens have cleared by the time your ready to go and you can get going immediately.
The cars have PTC heaters in them, so they start producing warm air very quickly.
Any cars which have proper pre-heating systems usually use a small diesel powered furnace to heat the engine coolant up, and a pump to circulate it round the system. The more modern stuff will also fire up the interior blowers etc to use that warm air to clear the screens etc.
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