Warmers are a benefit for slicks and race DOTs'. Not so much for non-race DOT tires. Switched back from slicks to DOTs' for a season awhile back on my 749 (Pilot Powers). I used warmers because I already had them, but I did not notice any benefit in terms of tire wear or traction. I always take about three laps to get up to pace whether it be on slicks / warmers, or DOTs' anyway. If you run slicks without warmers you will most likely experience cold-tearing at some point.
2016 Panigale 959
2012 Panigale 1199 (Track Only)
2001 Monster S4
2010 Aprilia SR50 Factory
2013 Beta 300 RR