Depends on the length of the practice session but if I plan on playing for over an hour, this gets me going :
Finger stretches away from the guitar for starters. I stretch the span on both hands as wide as possible, shake repeat, the rotate each finger while stretched. Then repeat focusing on finger pairs working on stretching them wider apart. Normally a couple of minutes,
Then I’ll go through all the chords I know working from open chords and their derivatives ie slash and sussed. Then Power Chords alternating 6th and 5th string roots, normally starting at D5 on the 6th working diagonally to the nut then back to G5 on the 5th,
Then all E and A shaped Barre chord grips 10th fret to first and back.
All chords normally the old strum pick strum routine to make sure all is clear. Sounds a lot but maybe takes 5 minutes.
Like Darrell, chromatic 4 fret “scales” from 7th fret E to e to E then back one fret until I get to fret one. This is done slow and focusing on string muting and periodically checking strings above and below the note I am playing.
Then steady major scales linking CAGED patterns of the neck normally starting and finishing with Pattern 1 from 3rd to 15th fret.
Repeat linking minor pent patterns 5th to 17th fret.
After that I have got my bearings, feel fully warmed up and relaxed and ready to start my practice routine. But around 10 minutes in all.
If its just an unplanned pick up session, like yesterday evening, I’ll just do the hand exercises before hand. Ha !! After about 2 weeks of not really playing I jammed for 2 hours plus !! So take what you like from that.
And sometimes I just pick up and play.
My 2 cents