Waiting for heat....

OP - you are stepping from an Optima (4 cyl) to a 6 cyl truck. The smaller engines will always warm up faster. Less mass to warm up before you get heat inside. It gets worse with larger engines. If I didn't plug in the block heater, I could start it, let it sit for 10 min, and still not have good heat until I had already driven to work.

Start it and let it warm up for a bit. I don't have remote start, so I go out and start the engine before I even climb in the seat. I'll put my bag in the back seat, climb in, get settled, etc. to give it more time to warm up.