Through the years it hasn't been my typical method as I tried to drop oil on an engine that was hot from having been worked, however that was not always practical and had to fire up a unit and let it warm up reasonably well and drop the oil when I had the time to do it but am referring to not only vehicles but a variety of farm equipment and highway tractors etc. However on a vehicle where one is crawling under it and the exhaust is nearby to ones body and if wanting to pull the plug without danger of being hit with boiling hot oil or attempting to remove a HOT oil filter, its sure safer and easier to not have everything smoking hot and can remove the filter right away when under the vehicle and let it all drain. Of course its not the end of the world if a bit of oil stays in the engine that might have eventually found its way out, I like to get out as much as possible but any oil changes that take place in shops would rarely be sitting around for very long at all before the plug is thrown back in and filter slapped on and oil poured in and sent out the door quick like. There would be very little time spent ( assuming they even did it ) in starting the engine with oil to fill the filter, then waiting to verify the level on the stick. A good reason to check ones oil level shortly after a shop changed the oil on a vehicle just to make sure its correct and to look under for any oil around the drain plug or filter.
I have changed oil and filter for years by starting a cold engine to warm oil up, let it run 5-10 minutes depending on temperature.
Drain until it starts dripping, refill with quantity from owners manual or get it close.
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