This morning while going to work, I accelerated onto the interstate and heard a huffing noise underneath the truck. Does someone have the mechanical explanation for this?

This raises another question that I've had and may be related. What is the minimum temperature the truck should be before driving after a cold start? This morning I sat for about 5 mins with the engine running in high idle; however, the OEM temp gauge didn't show any movement. Might the huffing sounds been related to some back pressure because it was too cold? Unfortunately, I only have a 12 minute commute; therefore, I don't want to create any harm by not getting the engine warm enough before operating.