Yes, a cold engine has pistons that have not expanded to their usual running clearance in the cylinders, rings have not "grown" due to heat expansion, and a few other parts will not be expanded to their hot-running clearances. It might take as much as 25% more effort to turn a warmed-up engine as a cold one. On the other hand, cold oil will have more drag than warmed-up lube, but that's really only a concern in very cold weather.
Jerry
