3500 RPM isn't a problem. You want to drive at mild/moderate loads and low RPM when the engine is cold. Lugging it is terrible. Revving it high is bad when oil isn't flowing. I try to keep RPMs between 2k-3k on a really cold motor, and 2k-4k when oil temp gets above ~140F, then as Tomster says, once it's above 180-190 you're good to go. Don't rev in neutral on a cold engine, only under load to whatever limit you are using.
Some BMW M cars have progressive redlines with additional lights that go out as the oil warms up. That can be a useful reference; on my E39 M5 the "orange" line is 4k RPM when the motor is cold, and ~6k RPM when the oil is up to ~150F, and the full 7k RPM when the oil is at normal temp (the S62 V8 runs a bit hotter than the Voodoo, ~200-210 in normal driving). Photo not my car: