I agree with Karen.
Dan John promotes "seamless" warmups, which is based on his idea of the 6 human movements (push/pull/squat/hinge/carry/groundwork). You should do them all, even if you just focus on one at a time. For example on S&S you focus on swings(hinge) and TGUs(groundwork). So you can integrate push, pull, squat & carry into your warmup e.g. a short circuit of pullups, pushups, goblet squats and then carry the kettlebell a few meters.
If you're on a squat heavy routine like Smolov do a couple of benches, rows, swings & farmers walks in your warmup. I think you get the point.
If it's just about getting a little sweat going before doing the main workout, rope skipping and macebell swings would be my choices.
20 double unders followed by 10 mb swings in every direction and then repeat that 1-2 more times. You will be sweating in just a matter of 2-3minutes