Many guys swear by a 5 min warmup and also a cool down.
I’ve seen several guys mention that they do little to no warm up.
It would seem advantageous to do some type of warmup to prepare the tissues in question for the workout ahead. You wouldn’t try to do a split without stretching your legs a bit, I’d apply the same logic to your dick.
Some guys, myself included, do a couple mins of massage, get it nice and “fluffy” (as Dino put it), and then start their workout slow and easy, gradually increasing the intensity.
Injury avoidance is something to always have in your mind during PE. An adequate warmup is a little time well spent.