From page 132 in the manual:
"When starting from cold, the engine may be a little noisy for the first few seconds. This is quite normal, and no cause for concern.".
Not specific as to whether it's referring to just the higher idle RPM or rattling noise, but again sounds like it's normal.
Also from page 132:
"Do not warm up the engine by running it while the vehicle is stationary. Instead, pull off as soon as there is good visibility through the windows. This helps the engine reach operating temp faster and reduces emissions".
Granted it's an eco tip, but seems like VW are happy for the car to be driven right away