Dealer called, they are in contact with GM. They asked if 1) it was parked outside last night: yes, 2) temperature when it was started: -4F.
They stated the the issue is not that it was plugged in above zero, but that it was unplugged above zero. To which I asked, if I had it plugged in overnight, unplugged it at -1F, and started it 20 minutes later when the outside temp is say 0F or 1F, assuming the engine coolant temperature were still warm, would it still cause the issue?
Regardless, my service rep is doing a great job, but he is going to contact GM again with my answers as well as see if there is some workaround. The fact he did not explicitly say there is a fix and we are going to try that is not the most promising though. The truck starts slow enough at 0 degrees F, and I would sure like to be able to reduce wear and tear on my engine by being able to plug it in at any temps below freezing honestly. It's ridiculous this is even a thing. There are things that technology is useful for, and this is not one.