The battery heater on the Model S is 6kw, so it takes a long time to heat the battery. If you are in a hurry to heat the battery, just do a few full pedal accelerations. A ludicrous launch on a P100D causes a 90 volt drop across the battery at 1850 amp. That's 166kw. Plus you get the additional i squared r losses across the motor and inverter. Even a much more moderate acceleration of a non-performance Model S will have a 60 or 70 kw drop across the battery. As the battery begins to warm, regen will also heat the battery.
This is no more wasteful than heating the battery slowly with the 6kw heater. It's just faster.
Preconditioning might be a better choice, though, except for return trips.