Like others on here, this is something that I'm always conscious of when leaving for work in the mornings or getting home at silly hours. Usually it's a case of getting the bike out of the garage, getting geared up and then starting the bike and going straight away, but keeping the revs low! I usually take the slow, non-occupied route out of the estate in the mornings to allow engine to warm up before hitting the bypass. However, if it's a completely sociable hour of the day, I usually give her a minute to get going, normally within 20 seconds the revs are around 1200 rpm. (She lives in a warm garage)
Personally I love the sound of my bike, even with the standard can, but I do get completely
off when I'm woken by another local biker who chooses to warm his bike up and then thrash the pants off it from the start - it may as well have no can on it for the noise it makes...