Yes, let it idle for 10 seconds to ensure the engine oil is flowing through the turbo bearing before driving off. Also idle for 10 - 120 seconds before switching off after ascending a hill, after towing and after sustained speed motorway cruising. This is to keep engine oil flowing through the turbo bearings while they are virtually red hot.

If you don't, the oil in the turbo bearings instantly carbonises and, as well as causing severe wear, can block the oil flow to the turbo bearing. No need to idle if the end of your journey is through a town because low speed running is the equivalent of idling. Same applies to turbo petrol cars that have water cooled turbos but still benefit from idling before switching off.