Many years ago when I worked in a Ford garage we asked a rep about this and his reply was to just get out, give it some welly, if it breaks it breaks and would have done anyway.
Cars that are driven”properly” rather than “normally” usually are a bit quicker & free reving I find.
Wife and I share our car and she uses it for commuting and I use it for everything else and it always feels a bit slugish until I give it a good “clean out” 😆
Again yrs ago when petrol was in short supply and a speed limit had been intoduced many “performance” cars developed missfires and poor fuel consumption. The cure? A good blast, high revs & low gears until everything was nice and clean(black clouds of soot from exhaust)
So, all depends if you are worried about fuel consumption or not but I reckon keeping the revs up, gears low and accelerating gently does the trick with a weekly longish drive if you have short commutes to clean up the systems