I've started warming up by doing a bunch of sketches at once these days. Because it's more time that i need to warm up rather than any specific action.
So by then when it comes to inking the first im don't 'waste a sketch' on not being warmed up enough
Update:
The 2nd picture needed a second part to help me figure it out

I used a new layer with different colours for Gladio and Ignis. by this point I'd already drawn the majority of Prompto