Your type of driving is more severe than just about any other. Car engines are like human hearts: They need to get up to a moderately high operating range at least three to five times a week. While a 10-minute walk may not help the body, a 10-minute drive can hurt a car engine.
Short drives under 10 miles are among the worst things for engine oil. You are not allowing the engine oil to get hot enough to fully boil off the condensation that forms overnight in the oil pan. The oil and water mix to form a varnish-like sludge. The long-distance commuter, who starts his car twice a day and drives more than 25 miles one way on relatively flat and fairly open freeway, can safely go 10K (or longer, if the manufacturer recommends). You, on the other hand, ought to be changing your oil by time rather than distance. If you really only drive 10 miles a day, that means you barely reach 3K in a year. So you should change the oil three times a year, regardless of miles. Also know this type of driving is hard on the muffler and cat, for the same reason: The metal gets wet from the condensation and warm--but not hot enough to boil off the moisture. That's the perfect combination for rust.
I once measured how long it took a Corvette's oil temp to get above 212 and, as I recall, it was about 20 minutes of moderate driving. You don't have to drive 20 minutes EVERY time you start the car, but it would help to take the long way home least two or three times a week. And know that "hot" to you (100 degrees) is "cool" to an engine.
About the only thing worse for engines and oil is the Shopper, who starts the car (which is when the most wear occurs), drives four miles to the store or coffee shop. Hangs around for, say, 20-30 minutes until the oil has cooled to near ambient, then does another cold start and drives to another store and shops for 20 minutes and does ANOTHER cold start. All day long.
For the environment's sake, the long distance commuter described above should go as long as the manufacturer recommends (10-15K sometimes). But you are a different story.