I am less than 20 miles from the NH border and if you remember last winter, during that real bad cold snap, I never had a bit of problem with either of my Escapes.
Like Rich said, mileage will suffer. This is both due to longer warm-up time for the engine as well as lower efficiency of the batteries. Even in the bitter cold, the worst tank average on either of my hybrids was around 28 mpg and that was my wife driving locally, never really getting it warmed up. For my commute to work (24 miles), I got around 30.
As for starting up and getting on the highway, I do pretty much that. It is less than 3/4 mile from my driveway to a 50
mph highway (Route 1). Even in the coldest days, by the time I get to this road I have heat. This means the engine is getting at least close to operating temperature. I still take it easy for the first mile or two. I never warm up my car - get in, belt up, start up and go. A car warms up quicker under slight load anyway and might as well get some distance out of that warmup time where your car is at it's least efficient.
Hope this helps. Let us know if you want more info.
Ray