That is what we all do. I have a delay programmed in, and am ready to go if the engine responds well.
A well tuned idle will hesitate to respond to throttle when the engine is still cold. I need to hold idle for about 1 minute before I can go to faster idle for another minute. Then the engine is warm enough to go fly.  If the warm engine will still hesitate ever so slightly, the engine will run smoother down to lower rpm. This tuning however can cause flameouts because most Walbro carbs have no acceleration pump. A delay in the trottle channel will help you set up the carb better and it will prevent flameouts. If with delay the warm engine still stumbles you know you have crossed the line.