Well, you said 'fluids' so we're not just talking engine oil? I don't know how to consistently 'warm' the hydraulic oil. It's pretty thin so it ain't a big deal to drain it cold. Front axle? Again, how to get it to temperature? Drain it cold.
Engine oil? I formed my opinion while watching the condensation drip down the can from my favorite evening beverage. The same thing is going on in reverse inside the motor. Water condensates on the inside walls. Running the motor & heating the oil & crankcase will reabsorb that water vapor. Then drain it.
This solves the water vapor problem right up until you start the motor next time and run it for awhile. So do what you like. Pulling the drain plugs in the evening on a cold motor and then plugging and refilling in the morning does a fine oil change.
In the long run, I don't think the motor or the oil cares.
I've formed plenty more opinions, some valuable, studying condensation.
Bob