Possibly. The issue is that when you start a car up, all the oil is in the bottom of the sump so none of the important bits have any oil on them at all. Now, in practice we know that's not quite true as unless the car has been sat for years then oil finds a way of coating everything, but the coating will be massively reduced.
In a perfect world you'd never do it, but in the real world you can't do anything about it so I wouldn't be worrying.