I'll be able to get you an answer this week probably! This'll be an expensive experiment.
For those temperatures, the cabin is comfortable enough in 5 minutes, toasty in 10. But for the battery, my early guess is it would take over an hour, but there are variables. I'll expand.
First, AWD vs RWD matters because the motors are what's being used to heat the battery. They do this best while not driving though. When driving, the rear motor is mostly preoccupied with moving the car rather than generating heat. If you don't have a front motor, heating will be a lot slower while in drive.
While parked, RWD models will take over twice as long to heat up the battery. This is because they only have half the heating power, but that longer time spent heating to a certain point means they've also lost more heat to the outside world.
I've never preheated the car long enough for it to reach 20C on the battery. This is partly because it would take well over an hour in those temps, but primarily because it is a colossal waste of energy. If I assume best case scenario, 8kW average (AWD) for an hour, that's 8kWh to warm the battery.
I say that's best case, because I've preheated it for half an hour on a few occasions and the temperature did not go up all that much, certainly less than 10C. To make a difference of 28C (-7C to 21C) takes a lot of energy for that 1000lb battery, and it also takes energy to just maintain that temperature since it's cold outside. In reality, the moment you start driving, that temperature will start dropping. I'd guess it would drop to around 15C steady state, assuming it was -7C outside.
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The car will use the same amount of power/energy when preheating the cabin and battery, whether you are plugged in or not. In the (likely) case that heating power needs exceed what is available from the plugged in source, any additional needed power is taken from the battery.
FYI, it's 3.5 kW per motor while parked. While driving, if you have the Tesla supercharger as the NAV location, the front induction motor will drop from 3.5 kW to 2.0 kW. At 2.0 kW, it's not generating as much heat. While parked, my Model Y can get up to 210F on the front Stator motor but while driving, I'm only seeing it max out around 125F in temps of 32-33F.
This isn't necessarily inaccurate, but there are multiple behaviours for heat generation while in drive. This is only one of them.
It seems to change behaviours based on distance to Supercharger, SoC (which implies what temperature is needed), and probably some other factors I don't know.