I'd suggest you leave your engine running and shift in N while you're rolling out of your subdivision. Engine load is zero while it is stone cold, just about perfect conditions for warm-up. I wouldn't wait for warmup until you are forced to place a heavy load on it such as your uphill grade. That's the time of worst fuel consumption!

When I park at work I take the 2nd to the top floor of the big parking deck and face-out.
When I restart I only nudge it in D long enough to get the car rolling then switch to N. It needs to roll in N across two blocks of parking deck, down 3 levels to an access gate where I shut off. When the gate rises I restart just enough to nudge again then switch back to N and roll down a gentle downhill to a stop sign.

By the time I reach the stop sign My engine is much further warmed up and ready for the load.

When I FAS the first thing I do is to get my foot off the gas and switch to N and let it idle. It drops to about 800RPM, then switch off.
If I switch off with higher RPM the exhaust fills with unburnt fumes which "Ping" upon restart. This is a potentially damaging backfire.

Sometimes I get a tug or slight jerk when I restart. It happens when I restart while rolling faster than about 40MPH so I restart below that.
Also when I restart I keep my foot off of the gas pedal for a few moments to let the CVT adjust itself then rev-match, which helps eliminate jerking.
-Steve

Efficient drivers do it better.
1003 miles a tank personal record. 74MPG calculated. HCH1 CVT