If you do or every day of its life... maybe. However, 3k on a cold engine isn't that bad. That's actually the highest rpm BMW recommends running their cars until fully warmed up. Also, letting it idle until fully warm is a waste. It takes longer to warm up that way and its extra wear and using gas for nothing.
Start it, let the idle drop down from initial start-up (15-20 secs), then just drive easy until warm.