Looking for solutions to shorten warm up time I'm a relatively fit 30 years old road cyclist and I've noticed that I need a lot of time to warm up. When I ride with some club mates, I am typically much slower than most of the other riders in the first 20 miles. However, if I start slowly after about 20-30 miles my legs feel good and I can easily keep up with the faster riders. 

When I try to push hard from the start, my legs would start hurting so badly and my overall performance would drop. I should also add that I typically don't do any warm up off-the-saddle. My question is the following: is there any particular training to do to improve my performance for shorter rides, without needing 30 miles to warm up?
Simplest solution would be to ride to the start of the ride, with a detour if you live/work too close to the start of the ride.