I've also never did more than a few incremental warm up sets before lifting (relatively heavy) and have never had a pull or a tear.
Warming up is one of those seemingly agreed upon myths in which the scientific evidence is minimal and typically shows the contrary.
edit: for example: http://healthland.time.com/2013/04/08/why-stretching-may-not...
And to add to this, it doesn't even make sense from an evolutionary standpoint. Having a physiology that requires warming up muscles before needing to escape a threat would be weeded out pretty quickly. A predator attacking a camp of humans, for instance, would allow those that can run fast without their "muscles pulling or tearing" to escape leaving those without such an advantage laying about groaning in pain while the predator gets their fill.